Design, fabrication and analysis of a bio-inspired tuna fish robot
Design, fabrication and analysis of a bio-inspired tuna fish robot
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DOI：
10.1145/2783449.2783503
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发表时间：
2015-07
期刊：
影响因子：
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通讯作者：
A. Meera;K. Sachin;A. Sudheer
中科院分区：
文献类型：
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作者：
A. Meera;K. Sachin;A. Sudheer
基于旋转推进器的现代水下推进系统对海洋生态系统的危害，促使水下机器人领域的研究加速寻找一种环保的水下运动替代方案。重型叶轮引起的湍流、噪声和空化效应对水生生物构成严重威胁，有时甚至会导致水生生物死亡。设计、制造和分析了一个仿生金枪鱼机器人，使其在形状和运动时的身体动作上都能复制真鱼。特别注意的是赋予一个流线型的身体为鱼机器人的阻力最小化，而游泳时。在水池中对机器人进行了向前推进、转弯运动和深度控制测试。研究人员使用了不同的体波方程，结果发现机器人可以和真正的鱼一起游泳，而不会把它们赶走。这种对环境友好的行为使它适合水下研究。
The dangers offered by the contemporary underwater propulsion system based on rotary thrusters on the marine ecosystem has expedited the research in the field of underwater robotics to find an eco-friendly alternative for underwater locomotion. The turbulences, noise and cavitation effects causes by the heavy impellers pose serious threats to the aquatic organisms, sometimes even killing them. A bio-inspired tuna fish robot was designed, fabricated and analysed so that it replicates the real fish, both in shape and body movements used for locomotion. Special attention was given to impart a streamlined body for the fish robot for the minimisation of the drag force while swimming. The robot was tested in the pool for forward propulsion, turning motion and depth control. Different body wave equations were used and the robot was found to swim along with the real fishes without driving them off. This eco-friendly behavior of the robot makes it suitable for underwater researches.