文献详情
Dynamic modeling of a flexible oscillating pectoral fin for robotic fish
文献类型期刊
作者Bi, Shusheng[1];Ma, Hongwei[2];Cai, Yueri[3];Niu, Chuanmeng[4];Wang, Yuliang[5]
机构
通讯作者Ma, HW (reprint author), Beihang Univ, Sch Mech Engn & Automat, Inst Robot, Beijing 100191, Peoples R China.
来源信息年:2014  卷:41  期:5  页码范围:421-428  
期刊信息INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL影响因子和分区  ISSN:0143-991X
关键词Bionic; Oscillating pectoral fin; Dynamic model; Flexible deformation; Blade element theory
增刊正刊
摘要Purpose - The paper aims to present a dynamic model of flexible oscillating pectoral fin for further study on its propulsion mechanism. Design/methodology/approach - The chordwise and spanwise motions of cow-nosed ray's pectoral fin are first analyzed based on the mechanism of active/passive flexible deformation. The kinematic model of oscillating pectoral fin is established by introducing the flexible deformation. Then, the dynamic model of the oscillating pectoral fin is developed based on the quasi-steady blade element theory. A series of hydrodynamic experiments on the oscillating pectoral fin are carried out to investigate the influences of motion parameters on the propulsion performance of the oscillating pectoral fin. Findings - The experimental results are consistent with that obtained through analytical calculation within a certain range, which indicates that the developed dynamic model in this paper is applicable to describe the dynamic characteristics of the oscillating pectoral fin approximately. The experimental results show that the average thrust of an oscillating pectoral fin increases with the increasing oscillating amplitude and frequency. However, the relationship between the average thrust and the oscillating frequency is nonlinear. Moreover, the experimental results show that there is an optimal phase difference at which the oscillating pectoral fin achieves the maximum average thrust. Originality/value - The developed dynamic model provides the theoretical basis for further research on propulsion mechanism of oscillating pectoral fins. It can also be used in the design of the bionic pectoral fins.
收录情况SCIE(WOS:000343330300006)  EI(20151600750398)  
所属部门机械工程及自动化学院
DOI10.1108/IR-04-2014-0330
学科工程:工业;机器人学
百度学术Dynamic modeling of a flexible oscillating pectoral fin for robotic fish
语言外文
被引频次3
人气指数112
浏览次数112
基金National Science Foundation of China [51205011]; Chinese Postdoctoral Science Foundation [T60049]
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Applying central pattern generators to control the robofish with oscillating pectoral fins.

Cao, Yong;Bi, Shusheng;Cai, Yueri,等.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL.2015,42(5),392-405.

Effects of a kind of non-smooth blade on the unsteady flow field at the exit of an axial fan.

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Experimental Study of Turbulent Boundary Layers on Groove/Smooth Flat Surfaces.

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Development and design of a robotic Manta Ray featuring flexible pectoral fins.

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