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research-article

A Study on Kinematic Pattern of Fish Undulatory Locomotion Using a Robot Fish

[+] Author and Article Information
Yong Zhong

ASME member, National University of Singapore, Block E6, Level 7, 5 Engineering Drive 1, Singapore, 117608
zhongyong_hust@foxmail.com

Jialei Song

The Chinese University of Hong Kong, Rm 110 William M.W.Mong Eng.Bldg. Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077
songjialei_1989@163.com

Haoyong Yu

National University of Singapore, Block E6, Level 7, 5 Engineering Drive 1, Singapore, 117608
bieyhy@nus.edu.sg

Ruxu Du

The Chinese University of Hong Kong, Room 209, William M.W. Mong Engineering Building, Chinese University of Hong Kong, Shatin, N.T., Hong Kong SAR, China, 999077; Academician, Canadian Academy of Engineering, ASME Fellow, SME Fellow, HKIE Fellow
rdu@mae.cuhk.edu.hk

1Corresponding author.

ASME doi:10.1115/1.4040434 History: Received May 05, 2017; Revised May 16, 2018

Abstract

Recent state-of-art researches on robot fish focus on revealing different swimming mechanisms and developing control methods to imitate the kinematics of the real fish formulated by so-called Lighthill's theory. However, the reason why robot fish must follow this formula has not be fully studied. In this paper, we adopt a biomimetic untethered robot fish to study the kinematics of fish flapping. The robot fish consists of a wire-driven body and a soft compliant tail, which can perform undulatory motion using one motor. A dynamic model integrated with surrounding fluid is developed to predict the cruising speed, static thrust, dynamic thrust, and yaw stability of the robot fish. Three driving patterns of the motor are experimented to achieve three kinematic patterns of the robot fish, e.g. triangular pattern, sinusoidal pattern and an over-cambered sinusoidal pattern. Based on the experiment results, it is found that the sinusoidal pattern generated the largest average static thrust and steady cruising speed, while the triangular pattern achieved the best yaw stability. The over-cambered sinusoidal pattern was compromised in both metrics. Moreover, the kinematics study shown that the body curves of the robot fish were similar to the referenced body curves presented by the formula when using the sinusoidal pattern, especially the major thrust generation area. This research provides a guidance on the kinematic optimization and motor control of the undulatory robot fish.

Copyright (c) 2018 by ASME
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