Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish
Abstract-This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz.
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
1124467459
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish
Abstract-This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz.
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
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Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish
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Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish
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In Stock
Product Details
| ISBN-13: | 9781537270906 |
|---|---|
| Publisher: | CreateSpace Publishing |
| Publication date: | 08/25/2016 |
| Series: | High Speed Robotics. Mechanical Engneering and Kinematics for Maximum Velocity Robotics. , #3 |
| Pages: | 32 |
| Product dimensions: | 5.08(w) x 7.80(h) x 0.07(d) |
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