Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators

被引:107
作者
Heo, Seok
Wiguna, Tedy
Park, Hoon Cheol [1 ,2 ]
Goo, Nam Seo [1 ,2 ]
机构
[1] Konkuk Univ, Artificial Muscle Res Ctr, Dept Adv Technol Fus, Seoul 143701, South Korea
[2] Konkuk Univ, Smart Robot Ctr, Seoul 143701, South Korea
关键词
LIPCA; biomimetic fish robot; caudal fin; Strouhal number; Froude number; Reynolds number;
D O I
10.1016/S1672-6529(07)60027-4
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
This paper addresses the design of a biomimetic fish robot actuated by piezoceramic actuators and the effect of artificial caudal fins on the fish robot's performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fin characteristics on thrust production at an operating frequency range. ne thickness distribution of a real mackerel's fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fin area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.
引用
收藏
页码:151 / 158
页数:8
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