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Applied Mathematics and Mechanics

, Volume 37, Issue 5, pp 601–610 | Cite as

Modelling of thrust generated by oscillation caudal fin of underwater bionic robot

  • Xinyan Yin
  • Lichao JiaEmail author
  • Chen Wang
  • Guangming Xie
Article
  • 236 Downloads

Abstract

A simplified model of the thrust force is proposed based on a caudal fin oscillation of an underwater bionic robot. The caudal fin oscillation is generalized by central pattern generators (CPGs). In this model, the drag coefficient and lift coefficient are the two critical parameters which are obtained by the digital particle image velocimetry (DPIV) and the force transducer experiment. Numerical simulation and physical experiments have been performed to verify this dynamic model.

Key words

caudal fin oscillation thrust force underwater bionic robot digital particle image velocimetry (DPIV) central pattern generator (CPG) 

Nomenclature

R

aspect ratio

v

velocity

ri

amplitude of oscillator

φi

phase of oscillator

ψji

lagging angle of ith and jth oscillators

f

desired frequency of oscillator

ϕi(t)

resultant burst serving as output of ith oscillator

N

number of oscillators (N = 3)

l

body length

U

self-propulsive speed of robot

ν

kinematic viscosity of water

ρ

fluid density

sd

effective sectional area of robot body

Cd

drag coefficient

u

characteristic velocity of tail fin

sa

area of tail fin

Ct

thrust coefficient

A

undulating amplitude of caudal fin

D

dragforce

Ft

thrust force

St

Strouhal number

Chinese Library Classification

O351.2 O355 

2010 Mathematics Subject Classification

76B47 76M55 76Z10 

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Copyright information

© Shanghai University and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Xinyan Yin
    • 1
  • Lichao Jia
    • 1
    Email author
  • Chen Wang
    • 1
  • Guangming Xie
    • 1
  1. 1.Key State Laboratory for Turbulence and Complex Systems, College of EngineeringPeking UniversityBeijingChina

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