Mechanical design and motion control of a biomimetic robotic dolphin

Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan

doi:10.1163/156855307780131974

Cited by 49 publications

(27 citation statements)

References 12 publications

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“…Specifically, as shown in Fig. 2a, the motion of the fluke is regarded as a combination of pitching and heaving motions, tracing a sinusoidal pathway, which is symmetrical about the longitudinal axis of the body and in time [8]. Rotating the fluke around the pitching axis, in particular, allows for control of angle of attack [1].…”

Section: Review Of Dolphin Swimmingmentioning

confidence: 99%

“…where h T is the maximal vertical excursion of the fluke, x n ¼ x=BL is the longitudinal coordinate measured from the beak, divided by the animal's body length (BL), f ðx n Þ is the polynomial expression of x n , taking a form of 0:21 À 0:66x n þ 1:1x 2 n þ 0:35x 8 n , f is the tail beat frequency, and t is the time. The symmetrical, sinusoidal fluke oscillations in the vertical plane produce approximately 90% of the total thrust.…”

Section: Review Of Dolphin Swimmingmentioning

confidence: 99%

“…Existing robotic dolphin prototypes involve Nakashima's two-joint dolphin [11], Dogangil's four-link robotic dolphin [12], Yu's five-link robotic dolphin with a pair of flipper apparatus [8], etc. Most of these prototypes adopt multiple concatenated links based mechanisms responsible for dominant thrust generation.…”

Section: Review Of Propulsive Mechanism In Dolphin-like Robotsmentioning

confidence: 99%

“…Compared with the previous multi-link robotic structures actuated by servomotors [8], a certain combination of a Scotch yoke mechanism and an amplitude modulation mechanism driven by DC motors is introduced to execute dorsoventral movements in dolphin swimming. The unique hallmark of this combined mechanism is that the outputted oscillatory amplitude can be continuously regulated online.…”

Section: Introductionmentioning

confidence: 99%

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Dolphin-like propulsive mechanism based on an adjustable Scotch yoke

Huo

et al. 2009

Mechanism and Machine Theory

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Section: Review Of Dolphin Swimmingmentioning

confidence: 99%

Section: Review Of Dolphin Swimmingmentioning

confidence: 99%

Section: Review Of Propulsive Mechanism In Dolphin-like Robotsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dolphin-like propulsive mechanism based on an adjustable Scotch yoke

Huo

et al. 2009

Mechanism and Machine Theory

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“…Many concepts for designing bio-inspired propulsion platforms have been presented which replicate the motion of fish [44,45,46,47], dolphins [50,51], and eels [48] [49]. With respect to rays, artificial pectoral fin designs have become more refined with actuators and active support structures that can better reproduce the motions seen in nature.…”

Section: Structural Background (Biological and Artificial)mentioning

confidence: 99%

Biomechanical Modeling of Ray Pectoral Fins to Inform the Design of AUV Propulsion Systems

Russo¹

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The ongoing demand for higher performing unmanned underwater vehicle systems for military and exploratory applications calls for unprecedented approaches to researching and developing new technologies. Autonomous Underwater Vehicles (AUVs), like their aerial counterparts (UAVs), are a type of naval craft that can carry out missions with minimal or no human interaction. The ever-increasing mission complexity of underwater vehicles has driven engineers and scientists to explore new sources of inspiration for the design of AUV propulsion systems. Fortunately, the many examples of successful underwater propulsion systems can be found in nature, such as the flapping fins of fish or undulating bodies of eels. Since there are literally thousands of examples in nature of how underwater propulsion can be achieved, it is important to realize which types of biological propulsion systems might be best for inspiring artificial propulsions systems for use in AUVs. In the present study, the mechanics of the pectoral fins of skates and rays is investigated to elucidate the underlying mechanisms responsible for their impressive propulsive ability. Batoid rays are of significant interest due to their unique body construct and performance characteristics with their pectoral fins used for both propulsion and control. Although the highly functioning fins of batoids have been recognized, the biomechanics behind their function is not well understood. Therefore the goal of this research is to investigate the musculoskeletal system of batoid rays, identify key biomechanical design features, elucidate the role of musculoskeletal design on fin kinematics and hydrodynamics, and to apply the lessons learned to the design of AUV propulsion systems.Computerized Tomography (CT) scans of the cownose ray (Rhinoptera bonasus) and Atlantic ray (Dasyatis sabina) skeletons reveal a complex system of cartilaginous joints and segments that provide for the support structure of batoid fins. Features of the skeletal design believed to be important for kinematics and propulsion were identified. A biomechanical model of the skeletal structure was developed to simulate ray swimming kinematics and uncover the role of skeletal design on kinematics. The biomechanical model was then interfaced with an advanced panel method Computational Fluid Dynamics (CFD) model to establish a link between the skeletal structure and hydrodynamic performance, and an investigation into the role of skeletal design on hydrodynamics was conducted. Lastly, the applicability of skeletal design features of biology to the design of AUV propulsion systems was explored through the design, fabrication, and testing of bio-inspired artificial pectoral fin skeletons.The development of the biomechanical model with fluid-structure interaction can be used as a tool for transferring the biological design principles of ray fins to the design of artificial systems for AUV propulsion. Ultimately, the objective of this work was to establish an interface between biology and engineering to aid...

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