Xiangyu Hu, Zhenping Wan, Yijin Tong, and Pengxi Guan
Biomimetic robot fish, longitudinal motion, dynamic modelling, active mass adjustment
Biomimetic robotic fish – renowned for their high propulsion efficiency and flexible manoeuvrability – encounter challenges in achieving flexible three-dimensional motion. This difficulty stems from the complexity inherent in longitudinal motion and the intricacies of the dynamic model. In this study, a biomimetic robotic fish that can actively adjust its internal mass and centre of gravity was designed to achieve complex longitudinal movements swiftly and sensitively, such as hovering in diverse postures, rapid diving, and surfacing. A dynamic model of longitudinal motion was established considering the net buoyancy, gravity moment, propulsion force generated by the body and/or caudal fin, and hydrodynamic forces during swimming. The steady output state of the biomimetic robotic fish and its stability and controllability of the longitudinal path were investigated by solving the dynamic model by considering the underwater hovering and steady motion of diving as objectives and the mass, centre-of-gravity position, and propulsion force generated by the body and/or caudal fin as input parameters. Finally, a prototype biomimetic robotic fish is manufactured. The feasibility and accuracy of the longitudinal motion dynamic modelling were verified by comparing the numerical simulation results with the experimental results.
Important Links:
Go Back
