Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin
- Authors
- Park, Yong-Jai; Jeong, Useok; Lee, Jeongsu; Kwon, Seok-Ryung; Kim, Ho-Young; Cho, Kyu-Jin
- Issue Date
- Dec-2012
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Compliant fin; flapping; flexible fin; flexible foil; half-pi phase delay; maximum thrust; pseudo-rigid-body model; robotic fish; underwater robot
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, v.28, no.6, pp.1216 - 1227
- Journal Title
- IEEE TRANSACTIONS ON ROBOTICS
- Volume
- 28
- Number
- 6
- Start Page
- 1216
- End Page
- 1227
- URI
- https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/83905
- DOI
- 10.1109/TRO.2012.2205490
- ISSN
- 1552-3098
- 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.
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