| Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators |
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| 作者姓名： | Seok Heo Tedy Wiguna Hoon Cheol Park Nam Seo Goo |
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| 作者单位： | [1]Artificial Muscle Research Center, Konkuk University, Seoul 143-701, Korea [2]Department of Advanced Technology Fusion, Konkuk University, Seoul 143-701, Korea [3]Department of Advanced Technology Fusion, Artificial Muscle Research Center and Smart Robot Center, Konkuk University, Seoul 143-701, Korea |
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| 基金项目： | This research was supported by grant from the Korea Research Foundation （KRF-2006-005-J03301） and that support is gratefully appreciated. |
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| 摘 要： | This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.
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| 关 键 词： | 仿生鱼机器人 压电制动器 斯德鲁哈尔数 弗鲁德数 人造尾鳍 |
Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators |
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| Seok Heo Tedy Wiguna Hoon Cheol Park Nam Seo Goo.Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators[J].Journal of Bionics Engineering,2007,4(3):151-158. |
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| Authors: | Seok Heo Tedy Wiguna Hoon Cheol Park Nam Seo Goo |
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| Institution: | Seok Heo(Artificial Muscle Research Center, Konkuk University, Seoul 143-701, Korea)；Tedy Wiguna(Department of Advanced Technology Fusion, Konkuk University, Seoul 143-701, Korea)；Hoon Cheol Park(Department of Advanced Technology Fusion, Artificial Muscle Research Center and Smart Robot Center,Konkuk University, Seoul 143-701, Korea)；Nam Seo Goo(Department of Advanced Technology Fusion, Artificial Muscle Research Center and Smart Robot Center,Konkuk University, Seoul 143-701, Korea)； |
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| Abstract: | This paper addresses the design of a biomimetic fish robot actuated by piezoceramic actuators and the effect of artificial caudal fins on the fish robot's performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fin characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel's fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fin area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption. |
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| Keywords: | LIPCA biomimetic fish robot caudal fin Strouhal number Froude number Reynolds number |
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