Paper Info
Title
Dynamic Modeling of a Novel Kind of Rigid-Soft Coupling Biomimetic Robotic Fish
Abstract
Designs of robotic fishes are becoming more and more diversified, from totally rigid to soft, or rigid-soft coupling. Currently, most of the dynamic modeling approaches for robotic fishes have an assumption that the midline body curve follows a specific flapping pattern. Nevertheless, the soft or rigid-soft coupling biomimetic robotic fish is an under-actuated system. Due to the complicated interactions with the surrounding aquatic environments, the midline body curve is not guaranteed to follow the given pattern. This paper presents the modeling method for a novel kind of rigid-soft coupling biomimetic robotic fish, and studies how the hydrodynamic force influences motions of the robotic fish, especially its flapping pattern. The biomimetic robotic fish is characterized with a rigid head, a wire-driven active body, and a soft tail. To begin with, dynamics of the robot’s rigid head is formulated by using Kirchhoff’s equation from conventional marine vessel technologies. Then, by using the Pseudo-Rigid-Body Model (PRBM) theory, the soft tail can be modeled as pseudo-rigid links connected serially via torsional springs. Together with the wire-driven active body, the whole propeller, is a serial-link mechanism, motion of which can be calculated by Lagrangian method. Finally, experiments are carried out to verify this modeling method in terms of midline body curves. Overall, this paper offers a feasible and pragmatic method for modeling the rigid-soft coupling biomimetic robotic fish.
Year
DOI
Venue
2022
10.1007/s10846-022-01661-w
Journal of Intelligent & Robotic Systems
Keywords
DocType
Volume
Modeling, Robotic fish, Biomimetics, Rigid-soft coupling, Dynamics
Journal
105
Issue
ISSN
Citations 
2
0921-0296
0
PageRank 
References 
Authors
0.34
5
7
Name
Order
Citations
PageRank
Qiyang Zuo100.34
Yaohui Xu200.34
Fengran Xie300.34
Haitao Fang400.34
Kai He501.01
Yong Zhong632.47
Zheng Li700.34