[1]WANG Ping,XU Bingzhao,LOU Baodong,et al.Ptimization and experimentation on the kinematic model of bionic robotic fish[J].CAAI Transactions on Intelligent Systems,2017,12(2):196-201.[doi:10.11992/tis.201604034]
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Ptimization and experimentation on the kinematic model of bionic robotic fish

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 2 Page number: 196-201 Column: 学术论文—智能系统 Public date: 2017-05-05
Title:
Ptimization and experimentation on the kinematic model of bionic robotic fish
Author(s):
WANG Ping1;  XU Bingzhao1;  LOU Baodong2;  NI Yujie1
1. College of energy and electrical, Hohai University, Nanjing 210098, China;
2. Mechanic Skill Training Center, Hohai University, Nanjing 210098, China
Keywords:
bionic robotic fish; kinematic model; head sway; swimming speed; rotation center; swimming characteristic; fish body wave; cruise
CLC:
TP242
DOI:
10.11992/tis.201604034
Abstract:
Bionic robotic fish are a new type of underwater robot with the advantages of high speed, high efficiency, and reductions in energy consumption. To further explore the mechanism used to move these bionic robotic fish, we focus on the present kinematic model and identify defects, e.g., the head sway caused by the manufacturer and inherent fish structure has not yet been considered. Therefore, after considering the head sway of the bionic robotic fish, we establish a head away equation, introduced the sway offset, and revised the kinematic model. Next, we used MATLAB to optimize the model. Our analytic results show that the revised kinematic model more precisely describes the swimming properties of the bionic robotic fish. Finally, we applied our revised kinematic model to experiments involving three-joint bionic robotic fish. Our experimental results show that our model can effectively restrain the head sway of the fish and thereby increase the swimming speed.
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