Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin
DC Field | Value | Language |
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dc.contributor.author | Park, Yong-Jai | - |
dc.contributor.author | Jeong, Useok | - |
dc.contributor.author | Lee, Jeongsu | - |
dc.contributor.author | Kwon, Seok-Ryung | - |
dc.contributor.author | Kim, Ho-Young | - |
dc.contributor.author | Cho, Kyu-Jin | - |
dc.date.accessioned | 2022-04-05T00:40:10Z | - |
dc.date.available | 2022-04-05T00:40:10Z | - |
dc.date.created | 2022-04-05 | - |
dc.date.issued | 2012-12 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/83905 | - |
dc.description.abstract | The compliance of a fin affects the thrust of underwater vehicles mimicking the undulatory motion of fish. Determining the optimal compliance of a fin to maximize thrust is an important issue in designing robotic fish using a compliant fin. We present a simple method to identify the condition for maximizing the thrust generated by a compliant fin propulsion system. When a fin oscillates in a sinusoidal manner, it also bends in a sinusoidal manner. We focus on a particular kinematic parameter of this motion: the phase difference between the sinusoidal motion of the driving angle and the fin-bending angle. By observing the relationship between the thrust and phase difference, we conclude that while satisfying the zero velocity condition, the maximum thrust is obtained when a compliance creates a phase difference of approximately pi/2 at a certain undulation frequency. This half-pi phase delay condition is supported by thrust measurements from different compliant fins (four caudal-shaped fins with different aspect ratios) and a beam bending model of the compliant fin. This condition can be used as a guideline to select the proper compliance of a fin when designing a robotic fish. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.title | Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.description.journalClass | 1 | - |
dc.identifier.wosid | 000312104400002 | - |
dc.identifier.doi | 10.1109/TRO.2012.2205490 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON ROBOTICS, v.28, no.6, pp.1216 - 1227 | - |
dc.description.isOpenAccess | N | - |
dc.identifier.scopusid | 2-s2.0-84870875647 | - |
dc.citation.endPage | 1227 | - |
dc.citation.startPage | 1216 | - |
dc.citation.title | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.citation.volume | 28 | - |
dc.citation.number | 6 | - |
dc.contributor.affiliatedAuthor | Lee, Jeongsu | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | Compliant fin | - |
dc.subject.keywordAuthor | flapping | - |
dc.subject.keywordAuthor | flexible fin | - |
dc.subject.keywordAuthor | flexible foil | - |
dc.subject.keywordAuthor | half-pi phase delay | - |
dc.subject.keywordAuthor | maximum thrust | - |
dc.subject.keywordAuthor | pseudo-rigid-body model | - |
dc.subject.keywordAuthor | robotic fish | - |
dc.subject.keywordAuthor | underwater robot | - |
dc.subject.keywordPlus | PERFORMANCE | - |
dc.subject.keywordPlus | PROPULSION | - |
dc.subject.keywordPlus | LOCOMOTION | - |
dc.subject.keywordPlus | MECHANISM | - |
dc.subject.keywordPlus | HYDRODYNAMICS | - |
dc.subject.keywordPlus | SIMULATION | - |
dc.subject.keywordPlus | STIFFNESS | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | MODELS | - |
dc.subject.keywordPlus | BODIES | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
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