TY - GEN
T1 - Design and Hydrodynamic Analysis of a Robotic Boxfish Using Lift-based and Drag-based Swimming Modes for Propulsion
AU - Qiu, Hongcheng
AU - Bi, Shusheng
AU - Wang, Bo
AU - Cai, Yueri
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper presents a new design for a robotic boxfish with a 2-DOF pectoral fin each side and a 1-DOF caudal fin. The pectoral fin designed is able to simulate the fin-base pitching and the fin-foil flapping, suggesting a combination of lift-based and drag-based kinematics. Based on Lattice-Boltzmann Method, the hydrodynamic characteristics of prototype's rigid pectoral fin was numerically calculated, so as to analyze the effects of motion parameters such as the offset angles of oscillation, phase lags, and amplitudes. Experiments in which the prototype relying on its pectoral fins alone for propulsion showed that by combining the motion parameters, the robotic boxfish was able to achieve highly maneuverable movements such as straight or inverted swimming, upward floating, downward diving and in-situ turning.
AB - This paper presents a new design for a robotic boxfish with a 2-DOF pectoral fin each side and a 1-DOF caudal fin. The pectoral fin designed is able to simulate the fin-base pitching and the fin-foil flapping, suggesting a combination of lift-based and drag-based kinematics. Based on Lattice-Boltzmann Method, the hydrodynamic characteristics of prototype's rigid pectoral fin was numerically calculated, so as to analyze the effects of motion parameters such as the offset angles of oscillation, phase lags, and amplitudes. Experiments in which the prototype relying on its pectoral fins alone for propulsion showed that by combining the motion parameters, the robotic boxfish was able to achieve highly maneuverable movements such as straight or inverted swimming, upward floating, downward diving and in-situ turning.
KW - 2-DOF pectoral fins
KW - bionic robotic boxfish
KW - computational fluid dynamics (CFD)
KW - lift-based and drag-based propulsion modes
UR - https://www.scopus.com/pages/publications/85124796057
U2 - 10.1109/ICRAE53653.2021.9657765
DO - 10.1109/ICRAE53653.2021.9657765
M3 - 会议稿件
AN - SCOPUS:85124796057
T3 - 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
SP - 323
EP - 330
BT - 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Y2 - 19 November 2021 through 22 November 2021
ER -