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Abstract—This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
Zakup książki
Robotic Fish iSplash-II, Richard James Clapham
- Język
- Rok wydania
- 2016
- Oprawa
- (miękka),
- Stan książki
- Dobry
- Cena
- 31,98 zł
Metody płatności
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- Tytuł
- Robotic Fish iSplash-II
- Podtytuł
- Realizing Fast Carangiform Swimming to Outperform a Real Fish
- Język
- angielski
- Autorzy
- Richard James Clapham
- Rok wydania
- 2016
- Oprawa
- miękka
- Liczba stron
- 32
- ISBN10
- 1537270907
- ISBN13
- 9781537270906
- Seria
- Tagi
- Nauka, Technologia, Roboty, Robotyka
- Opis
- Abstract—This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.