Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

Ding, Jiang; Zheng, Changzhen; Song, Chaocheng; Zuo, Qiyang; Xu, Yaohui; Dong, Bingbing; Cui, Jiaxu; He, Kai; Xie, Fengran

doi:10.1007/s42235-022-00201-4

Cited by 8 publications

(5 citation statements)

References 26 publications

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“…Therefore, indepth research on the technology of 3D printing manufacturing products has great practical significance and important scientific research value [15]. Therefore, studying the key technologies of 3D printing manufacturing has important practical significance and scientific value [16]. In this paper, the static mechanical design and analysis of the entire mechanical part of the large-scale FDM equipment are carried out, and then, the choice of the movement mechanism and movement mode is theoretically analyzed.…”

Section: Introductionmentioning

confidence: 99%

Improvement and Experimental Explore on Coordinated Control of Kinematic Mechanism of FDM 3D Printer

2022

Advances in Multimedia

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As the main component of the 3D printing industry, the fused deposition process covers all aspects of the industry with its advantages of low R&D investment, high practicability, and open source programs. However, due to process problems, problems have arisen in terms of printing efficiency and molding quality. To this end, we designed a large-scale multinozzle FDM printing device using the high-current fused deposition (FDM) printing principle. The defects of small size, slow printing speed, and low precision are deeply studied, and the machine structure is optimized according to the structural strength analysis. In this paper, the theoretical design and static analysis of the overall mechanical part of the large-scale FDM device are carried out, and then, the selection of the movement organization structure and movement method is theoretically analyzed. A modular flow chart is designed for the control system to coordinate and control the parallel and precise operation of multiple nozzles, and the relationship function between the main controller, power driver, and heating module is designed. By modifying the firmware parameter command, we can find out the optimal method running on the platform and discuss the function usage of the slicing software in detail. According to the current problems of FDM printing equipment, various factors affecting printing speed were analyzed from the perspective of printing accuracy, and the process parameters of 3D printer were studied through orthogonal experiments. Speed, nozzle temperature, idling speed, and fill rate were studied, and the relationship between factors affecting printing speed and printing accuracy was obtained. Use a simple model print to measure the overall performance of your product. The stability of the system is verified by short-term and long-term printing tests. The analysis results show that the forming performance and stability of the large-scale FDM are improved significantly.

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Section: Introductionmentioning

confidence: 99%

Improvement and Experimental Explore on Coordinated Control of Kinematic Mechanism of FDM 3D Printer

2022

Advances in Multimedia

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“…Experimental results showed that the appropriate position and motion phase between dorsal and caudal fins can improve the platform thrust and reduce the generated lateral force. Ding et al [26] developed an untethered robotic fish driven by multi-fins. By measuring yaw angle variation of the prototype during its forward swimming, effect of motion interaction between the anal and caudal fins was investigated.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Heading Stability due to Interactions between Pectoral and Caudal Fins in Robotic Boxfish Locomotion

Qiu

Chen

et al. 2022

J Bionic Eng

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Investigating the interaction between fins can guide the design and enhance the performance of robotic fish. In this paper, we take boxfish as the bionic object and discuss the effect of coupling motion gaits among the two primary propulsors, pectoral and caudal fins, on the heading stability of the body. First, we propose the structure and control system of the bionic boxfish prototype. Second, using a one/two-way fluid–structure interaction numerical method, we analyse the key parameters of the prototype and discuss the influence of pectoral and caudal motion gaits on the hydrodynamic performance. Finally, effect of the pectoral and caudal interactions on heading stability of the prototype is systematically analyzed and verified in experiments. Results show that the course-deviating degree, oscillation amplitudes of yawing, rolling, and pitching exhibited by the prototype are smaller than that caused by single propulsor when the motion gaits of both pectoral and caudal fins are coordinated in a specific range. This paper reveals for the first time the effect of interactions between pectoral and caudal fins, on the stability of body's course by means of Computational Fluid Dynamics and prototype experiments, which provides an essential guidance for the design of robotic fish propelled by multi-fins.

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“…Rigid fins acting as paddles with a single degree of freedom that produces the roll movement in an autonomous underwater vehicle are presented in previous studies [1,2]. Another study used a rigid anal fin for improving yaw stability [3].…”

Section: Introductionmentioning

confidence: 99%

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Coral¹,

Rossi²

2022

Bioinspir. Biomim.

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Fish has served as model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper we present our work on 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of life fish have been designed and tested that generate lateral thrusts whose purpose is to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization in the forward motion to the robot. These fins are composed of Shape Memory Alloy wires (SMAs) embedded in silicone. We demonstrate that these fins are capable of providing a mean for 3D maneuvering. In this work we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact and waterproof.

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Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

Cited by 8 publications

References 26 publications

Improvement and Experimental Explore on Coordinated Control of Kinematic Mechanism of FDM 3D Printer

Improvement and Experimental Explore on Coordinated Control of Kinematic Mechanism of FDM 3D Printer

Analysis of Heading Stability due to Interactions between Pectoral and Caudal Fins in Robotic Boxfish Locomotion

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

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