Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

摘要

A robotic fish driven by oscillating fins, "Cownose Ray-I", is developed, which is in dorsoventrally flattened shape withouta tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in thedesign of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver. Forwardvelocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of fin beatfrequency to the forward velocity of the robotic fish is different from the usual result. On the other hand, experimental results onmaneuvering show that phase difference has a stronger effect on swerving than the largest amplitude to some extent. In addition,as propulsion waves pass from the trailing edge to the leading edge, the robotic fish attains a backward velocity of 0. 15 m·s-1.