期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/58400
语种：English
出版社：SAGE Publications
摘要：In the past decade, biomimetic undulating fin propulsion has been one of the main topics considered by scientists and researchers in the field of robotic fish. This technology is inspired by the biological wave-like propulsion of ribbon-finned fish. The swimming modes have aquatic application potentials with greater manoeuvrability, less detectable noise or wake and better efficiency at low speeds. The present work concentrates on the evaluation of fin-ray trajectory tracking of biorobotic undulating fins at the levels of kinematics and hydrodynamics by using an experimental-numerical approach. Firstly, fin-ray tracking inconsistence between the desired and actual undulating trajectories is embodied with experimental data of the fin prototype. Next, the dynamics' nonlinearity is numerically and analytically unveiled by using the computational fluid dynamics (CFD) method, from the viewpoint of vortex shedding and the hydro-effect. The evaluation of fin-ray tracking performance creates a good basis for control design to improve the fin-ray undulation of prototypes.
