The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot
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 bene...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/60059 |
| _version_ | 1819226883655467008 |
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| author | Sayyed Farideddin Masoomi Stefanie Gutschmidt XiaoQi Chen Mathieu Sellier |
| author_facet | Sayyed Farideddin Masoomi Stefanie Gutschmidt XiaoQi Chen Mathieu Sellier |
| author_sort | Sayyed Farideddin Masoomi |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-23T10:32:34Z |
| format | Article |
| id | doaj.art-b9329037e3a441519fd2a48a79e3da55 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-23T10:32:34Z |
| publishDate | 2015-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-b9329037e3a441519fd2a48a79e3da552022-12-21T17:50:24ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-07-011210.5772/6005910.5772_60059The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic RobotSayyed Farideddin Masoomi0Stefanie Gutschmidt1XiaoQi Chen2Mathieu Sellier3University of Canterbury, Christchurch, Canterbury, New ZealandUniversity of Canterbury, Christchurch, Canterbury, New ZealandUniversity of Canterbury, Christchurch, Canterbury, New ZealandUniversity of Canterbury, Christchurch, Canterbury, New ZealandThis 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.https://doi.org/10.5772/60059 |
| spellingShingle | Sayyed Farideddin Masoomi Stefanie Gutschmidt XiaoQi Chen Mathieu Sellier The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot International Journal of Advanced Robotic Systems |
| title | The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot |
| title_full | The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot |
| title_fullStr | The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot |
| title_full_unstemmed | The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot |
| title_short | The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot |
| title_sort | kinematics and dynamics of undulatory motion of a tuna mimetic robot |
| url | https://doi.org/10.5772/60059 |
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