DYNAMICALLY PROPULSIVE MODEL OF A FISH ROBOT WITH FLEXIBLE NON-UNIFORM PECTORAL FINS

Van A. Pham, Tan T. Nguyen, and Tuong Q. Vo

Keywords

Fish robot, non-uniform pectoral fin, Lagrange approach, Morisonforce, Strouhal number

Abstract

In this paper, we recommend a dynamic model for a fish robot inspired by fish using flexible non-uniform pectoral fins. The robot structure consists of two pectoral fins, a rigid body, and an inactive tail. Combining the Lagrange approach with the Morison formula and the rigid-body dynamics, equations that express the deflection of the non-uniform fins and the motion of the robot’s body are established. To cover the effects of drag and added mass on the flexible fins in straight swimming mode, we propose a linear relationship among the coefficients of damping, inertia, and the parameters of moment inputs as frequency and amplitude. Comparison results between the experimental and simulation performances assert that the suggested model predicts the behaviours of the fish robot relative well. The accomplished model can be employed in designing controllers for the robot with symmetrical flexible pectoral fins.

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