The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot | Zendy

Sayyed Farideddin Masoomi | Zendy; Stefanie Gutschmidt | Zendy; Xiaoqi Chen | Zendy; Mathieu Sellier | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot

Author(s) -

Sayyed Farideddin Masoomi,

Stefanie Gutschmidt,

Xiaoqi Chen,

Mathieu Sellier

Publication year - 2015

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/60059

Subject(s) - kinematics , robot , mechanism (biology) , computer science , motion (physics) , dynamics (music) , mobile robot , control theory (sociology) , robot kinematics , simulation , physics , artificial intelligence , classical mechanics , acoustics , control (management) , quantum mechanics

This paper presents the steps for the mathematical modelling of a fish robot with four degrees of freedom (DOF) called UC-Ika 1. The swimming motion of the robot, which is inspired by tuna fish, needs to generate an undulatory motion by its tail peduncle and caudal fin. Hence, the robot has the benefit of a tail mechanism that plays a determining role in the dynamic behaviour of the robot. Analysing this tail mechanism and the hydrodynamic forces acting upon the fish robot, the governing equations of motion of the robot are derived. Solving these dynamic equations reveals that the robot has a cruising speed of 0.29 m/s, a slight oscillation in the Y direction, and a small swing around its centre of mass. These results are validated by the experimental results of UC-Ika 1

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research