Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

Sitorus, Patar Ebenezer; Nazaruddin, Yul Y.; Leksono, Edi; Budiyono, Agung

doi:10.1016/s1672-6529(08)60100-6

Cited by 90 publications

(39 citation statements)

References 9 publications

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“…Bluegill sunfish have been the primary source of data when designing bioinspired pectoral fin-based propulsors for underwater autonomous vehicles (e.g. Sitorus et al, 2009;Phelan et al, 2010;Tangorra et al, 2011). Data from this study can be used to produce alternative robotic fin shapes and stiffness fields, and informs how the relationship between fin shape and stiffness could be tuned to meet the demands of drag-versus lift-based propulsion (maneuverability versus high-thrust production and efficiency).…”

Section: Design Principles Of a Flexible Propulsormentioning

confidence: 99%

The relationship between pectoral fin ray stiffness and swimming behavior in Labridae: insights into design, performance, and ecology

Aiello

Hardy

Cherian

et al. 2017

Journal of Experimental Biology

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The functional capabilities of flexible, propulsive appendages are directly influenced by their mechanical properties. The fins of fishes have undergone extraordinary evolutionary diversification in structure and function, which raises questions of how fin mechanics relate to swimming behavior. In the fish family Labridae, pectoral fin swimming behavior ranges from rowing to flapping. Rowers are more maneuverable than flappers, but flappers generate greater thrust at high speeds and achieve greater mechanical efficiency at all speeds. Interspecific differences in hydrodynamic capability are largely dependent on fin kinematics and deformation, and are expected to correlate with fin stiffness. Here we examine fin ray stiffness in two closely related species that employ divergent swimming behaviors, the flapping Gomphosus varius and the rowing Halichoeres bivittatus. To determine the spatial distribution of flexural stiffness across the fin, we performed three-point bending tests at the center of the proximal, middle and distal regions of four equally spaced fin rays. Pectoral fin ray flexural stiffness ranged from 0.0001 to 1.5109 µN m 2 , and the proximal regions of G. varius fin rays were nearly an order of magnitude stiffer than those of H. bivittatus. In both species, fin ray flexural stiffness decreased exponentially along the proximodistal span of fin rays, and flexural stiffness decreased along the fin chord from the leading to the trailing edge. Furthermore, the proportion of fin area occupied by fin rays was significantly greater in G. varius than in H. bivittatus, suggesting that the proportion of fin ray to fin area contributes to differences in fin mechanics.

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Section: Design Principles Of a Flexible Propulsormentioning

confidence: 99%

The relationship between pectoral fin ray stiffness and swimming behavior in Labridae: insights into design, performance, and ecology

Aiello

Hardy

Cherian

et al. 2017

Journal of Experimental Biology

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“…Institute (NMRI) [15] , Peking University [16] , 서울대학교 [29] , 건국대학교 [17,22] , 충주대학교 [18] , Institute Technology Bandung [19] , 울산대학교 [28] 등에서 물고기 로봇 관련 연 구들이 이루어지고 있다. 적합한 것으로 알려져 있다 [31,32] .…”

Section: Tokai University 및 National Maritime Researchunclassified

“…이 외에도 California Institute of Technology [11] , University of California San Diego 및 Northeastern University [12] , University of California Berkley [13] , Essex University [14] , Tokai University 및 National Maritime Research Institute (NMRI) [15] , Peking University [16] , 서울대학교 [29] , 건국대학교 [17,22] , 충주대학교 [18] , Institute Technology Bandung [19] , 울산대학교 [28] 등에서 물고기 로봇 관련 연 구들이 이루어지고 있다.…”

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Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Kang¹

2011

The Journal of Korea Robotics Society

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A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins. . 따라서, 군사적 감시활동, 해 저탐사 [5] , 수중환경 감시, 생태학적 연구 등의 수중 임무 수행을 위한 차세대 수중 운행체 [6] 를 개발하기 위한 방 편으로 물고기 모방 로봇을 개발하기 위한 많은 연구들이 이루어지고 있다. 1994년에 개발된 MIT의 RobotTuna [7] 를 시작으로 많은 물고기 모방 로봇들이 개발되었다.RobotTuna의 뒤를 이어 RoboPike 자율 수중 운행체라고 할 수 있다 [9,10] . 이 외에도 California Institute of Technology [11] , University of California San Diego 및 Northeastern University [12] , University of California Berkley [13] , Essex University [14] , Tokai University 및 National Maritime Research Institute (NMRI) [15] , Peking University [16] , 서울대학교 [29] , 건국대학교 [17,22] , 충주대학교 [18] , Institute Technology Bandung [19] , 울산대학교 [28] 등에서 물고기 로봇 관련 연 구들이 이루어지고 있다.

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“…The proposed mechanical drive enables to increase the swimming speed and notably reduce the energy consumption, but also moves the caudal fin with high frequencies (up to 26 Hz). In almost all the cases cited in the literature, the frequency of the fins' movement is approximately equal to the frequency of the natural behaviour of the fish (around 1 Hz) [20,22].Therefore, the proposed mechanical drive let us accomplish studies of other parameters such as the thrust force in these unusual conditions. On the other hand, several materials were utilised in order to produce and evaluate experimentally different samples of caudal fins, achieving at the end a very efficient design that is characterised by a variable stiffness.…”

Section: Introductionmentioning

confidence: 99%

Mechanical actuator for biomimetic propulsion and the effect of the caudal fin elasticity on the swimming performance

Apalkov

Fernández

Fontaine

et al. 2012

Sensors and Actuators A: Physical

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This paper presents a mechanical actuator for the biomimetic propulsion of swimming devices and the experimental study of the effect of the caudal fin elasticity on the overall performance. The design of the proposed drive allows the DC motor to operate at constant speed, so all the power of the motor is spent only for the motion of the caudal fin. A prototype of the actuator, in which the caudal fin serves as a driving element, is manufactured and tested in both laboratory and natural conditions. The swimming speed, the thrust efficiency and the maneuverability are evaluated for caudal fins with different stiffness. The caudal fin whose rigidity varies relative to both vertical and horizontal cross-section, exhibits the best performance. The achieved results also confirm that the proposed actuator could be of great interest to applications in the field of underwater operation, ocean investigation and environmental protection.

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Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

Cited by 90 publications

References 9 publications

The relationship between pectoral fin ray stiffness and swimming behavior in Labridae: insights into design, performance, and ecology

The relationship between pectoral fin ray stiffness and swimming behavior in Labridae: insights into design, performance, and ecology

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Mechanical actuator for biomimetic propulsion and the effect of the caudal fin elasticity on the swimming performance

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