Biomimetic robots have attracted many researches around the world and also living creatures are the best models in biomimetic robotic engineering design. This paper is the combination of three creatures such as tuna, inchworm, gammarus. They are used in order for shortcoming of unrealized multi-functionality. Hence, this paper describes a robot based on the most optimal possible in its field. The dynamic modeling of a flexible tail in the proposed robot are mentioned in detail. The robotic fish is composed of two links connected by an actuated joint; the frontal link is rigid and acts as the robotic fish body, while the rear link serves as the tail. The latter comprises a rigid element connected to a flexible caudal fin, whose underwater vibration is responsible for propulsion. The dynamics of the frontal link are described using Kirchhoff’s equations of motion for rigid bodies in quiescent fluids. The tail vibration is modeled using Euler–Bernoulli beam Theory. Such methods could be a prospect approach for further research in the field of underwater robots.
| Published in | International Journal of Science and Qualitative Analysis (Volume 1, Issue 3) |
| DOI | 10.11648/j.ijsqa.20150103.13 |
| Page(s) | 54-63 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2015. Published by Science Publishing Group |
Micro-actuators, Biomimetic Fin, Bio-inspired Tail, Robot, Hydrodynamic Modeling, Drag Force, Lifting Force
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APA Style
A. Shourangiz Haghighi, I. Zare, Mohammad Ahmadi Balootaki, Mohammad Orak, Omid Zare. (2015). Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure. International Journal of Science and Qualitative Analysis, 1(3), 54-63. https://doi.org/10.11648/j.ijsqa.20150103.13
ACS Style
A. Shourangiz Haghighi; I. Zare; Mohammad Ahmadi Balootaki; Mohammad Orak; Omid Zare. Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure. Int. J. Sci. Qual. Anal. 2015, 1(3), 54-63. doi: 10.11648/j.ijsqa.20150103.13
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Download@article{10.11648/j.ijsqa.20150103.13,
author = {A. Shourangiz Haghighi and I. Zare and Mohammad Ahmadi Balootaki and Mohammad Orak and Omid Zare},
title = {Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure},
journal = {International Journal of Science and Qualitative Analysis},
volume = {1},
number = {3},
pages = {54-63},
doi = {10.11648/j.ijsqa.20150103.13},
url = {https://doi.org/10.11648/j.ijsqa.20150103.13},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijsqa.20150103.13},
abstract = {Biomimetic robots have attracted many researches around the world and also living creatures are the best models in biomimetic robotic engineering design. This paper is the combination of three creatures such as tuna, inchworm, gammarus. They are used in order for shortcoming of unrealized multi-functionality. Hence, this paper describes a robot based on the most optimal possible in its field. The dynamic modeling of a flexible tail in the proposed robot are mentioned in detail. The robotic fish is composed of two links connected by an actuated joint; the frontal link is rigid and acts as the robotic fish body, while the rear link serves as the tail. The latter comprises a rigid element connected to a flexible caudal fin, whose underwater vibration is responsible for propulsion. The dynamics of the frontal link are described using Kirchhoff’s equations of motion for rigid bodies in quiescent fluids. The tail vibration is modeled using Euler–Bernoulli beam Theory. Such methods could be a prospect approach for further research in the field of underwater robots.},
year = {2015}
}
TY - JOUR T1 - Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure AU - A. Shourangiz Haghighi AU - I. Zare AU - Mohammad Ahmadi Balootaki AU - Mohammad Orak AU - Omid Zare Y1 - 2015/08/07 PY - 2015 N1 - https://doi.org/10.11648/j.ijsqa.20150103.13 DO - 10.11648/j.ijsqa.20150103.13 T2 - International Journal of Science and Qualitative Analysis JF - International Journal of Science and Qualitative Analysis JO - International Journal of Science and Qualitative Analysis SP - 54 EP - 63 PB - Science Publishing Group SN - 2469-8164 UR - https://doi.org/10.11648/j.ijsqa.20150103.13 AB - Biomimetic robots have attracted many researches around the world and also living creatures are the best models in biomimetic robotic engineering design. This paper is the combination of three creatures such as tuna, inchworm, gammarus. They are used in order for shortcoming of unrealized multi-functionality. Hence, this paper describes a robot based on the most optimal possible in its field. The dynamic modeling of a flexible tail in the proposed robot are mentioned in detail. The robotic fish is composed of two links connected by an actuated joint; the frontal link is rigid and acts as the robotic fish body, while the rear link serves as the tail. The latter comprises a rigid element connected to a flexible caudal fin, whose underwater vibration is responsible for propulsion. The dynamics of the frontal link are described using Kirchhoff’s equations of motion for rigid bodies in quiescent fluids. The tail vibration is modeled using Euler–Bernoulli beam Theory. Such methods could be a prospect approach for further research in the field of underwater robots. VL - 1 IS - 3 ER -
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