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Bioinspired Propulsion System for a Thunniform Robotic Fish
The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts simulating muscle contractions. The propulsion system provide...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9775513/ https://www.ncbi.nlm.nih.gov/pubmed/36546915 http://dx.doi.org/10.3390/biomimetics7040215 |
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author | Mitin, Iliya Korotaev, Roman Ermolaev, Artem Mironov, Vasily Lobov, Sergey A. Kazantsev, Victor B. |
author_facet | Mitin, Iliya Korotaev, Roman Ermolaev, Artem Mironov, Vasily Lobov, Sergey A. Kazantsev, Victor B. |
author_sort | Mitin, Iliya |
collection | PubMed |
description | The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts simulating muscle contractions. The propulsion system provides the oscillatory tail movement with controllable amplitude and frequency. Tail oscillations translate into the movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body and the tail fin of the robotic fish were designed using a computational model simulating a virtual body in an aquatic medium. A prototype of a robotic fish was constructed and tested in experimental conditions. Dependencies of fish velocity on the dynamic characteristics of tail oscillations were analyzed. In particular, it was found that the robot’s speed increased as the frequency of tail fin oscillations grew. We also found that for fixed frequencies, an increase in the oscillation amplitude lead to an increase in the swimming speed only up to a certain threshold. Further growth of the oscillation amplitude lead to a weak increase in speed at higher energy costs. |
format | Online Article Text |
id | pubmed-9775513 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-97755132022-12-23 Bioinspired Propulsion System for a Thunniform Robotic Fish Mitin, Iliya Korotaev, Roman Ermolaev, Artem Mironov, Vasily Lobov, Sergey A. Kazantsev, Victor B. Biomimetics (Basel) Article The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts simulating muscle contractions. The propulsion system provides the oscillatory tail movement with controllable amplitude and frequency. Tail oscillations translate into the movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body and the tail fin of the robotic fish were designed using a computational model simulating a virtual body in an aquatic medium. A prototype of a robotic fish was constructed and tested in experimental conditions. Dependencies of fish velocity on the dynamic characteristics of tail oscillations were analyzed. In particular, it was found that the robot’s speed increased as the frequency of tail fin oscillations grew. We also found that for fixed frequencies, an increase in the oscillation amplitude lead to an increase in the swimming speed only up to a certain threshold. Further growth of the oscillation amplitude lead to a weak increase in speed at higher energy costs. MDPI 2022-11-28 /pmc/articles/PMC9775513/ /pubmed/36546915 http://dx.doi.org/10.3390/biomimetics7040215 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Mitin, Iliya Korotaev, Roman Ermolaev, Artem Mironov, Vasily Lobov, Sergey A. Kazantsev, Victor B. Bioinspired Propulsion System for a Thunniform Robotic Fish |
title | Bioinspired Propulsion System for a Thunniform Robotic Fish |
title_full | Bioinspired Propulsion System for a Thunniform Robotic Fish |
title_fullStr | Bioinspired Propulsion System for a Thunniform Robotic Fish |
title_full_unstemmed | Bioinspired Propulsion System for a Thunniform Robotic Fish |
title_short | Bioinspired Propulsion System for a Thunniform Robotic Fish |
title_sort | bioinspired propulsion system for a thunniform robotic fish |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9775513/ https://www.ncbi.nlm.nih.gov/pubmed/36546915 http://dx.doi.org/10.3390/biomimetics7040215 |
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