Year 2017,
Volume: 12 Issue: 1, 29 - 39, 15.01.2017
Abstract
This
study considers the dynamic model of one active joint robotic fish by using
Lagrange method and simulation of the robotic fish model in MATLAB/SimMechanics
environment. Compared results of these two different models are given in the
study. The mathematical model of the system is derived from Lagrange energy
equations of the robotic fish inspired from a real carangiform fish. The
Computer Aided Design (CAD) model of the robotic fish is designed by using
SolidWorks and it is transferred to the SimMechanics environment. The
hydrodynamic effects, which are linear and nonlinear drag force, are also
adapted and head motion, one active joint, and one passive joint angles found
by using MATLAB Simulink environment. Obtained results for joint angles from
both dynamic and SimMechanics models are compared and proved with animation
video of the robotic fish.
References
- Liu, T.J. and Hu H., (2010). Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish, Journal of Bionic Engineering, Volume:7.
- Yan, Q., Han, Z., Zhang, S., and Yang, J., (2008). Parametric Research of Experiments on a Carangiform Robotic Fish, Journal of Bionic Engineering, Volume:5.
- Vo, T.Q., Kim, H.S., and Lee, B.R., (2009). Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Climbing Algorithm, Journal of Bionic Engineering, Volume:6.
- Ren, Q., Xu, J., and Li, X., (2015). A Data-driven Motion Control Approach for a Robotic Fish, Journal of Bionic Engineering, Volume:12.
- Yu, J. and Yi, C., (2009). Analysis of Relationship between Efficiency and Motion Parameters of Robotic Fish, Intelligent Human-Machine Systems and Cybernetics.
- Hirata K., (?). Design and Manufacturing of a Small Fish Robot, Processing of Japan Society for Design Engineering.
- Triantafyllou, M.S. and Triantafyllou, G.S., (1995). An Efficient Swimming Machine, Scientific American, Vol:272.
- Zhou, C., Tan, M., Cao, Z., Wang, S., Creighton, D., Gu, N., and Nahavandi, S., (2008). Kinematic Modeling of a Bio-inspired Robotic Fish, ICRA 2008.
- Suebsaiprom, P. and Lin, C., (2015). Maneuverability Modeling And Trajectory Tracking For Fish Robot, Control Engineering Practice, Volume:45.
- Wang, J., Alequin-Ramos, F., and Tan, X., (2011). Dynamic Modeling of Robotic Fish and its Experimental Validation, Intelligent Robots and Systems (IROS).
- Ding, R., Yu, J., Yang, Q., Tan, M., and Zhang, J., (2009). CPG-Based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot, in Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, pp:1657-1662.
- Chowdhury, A.R., Prasad, B., Kumar, V., Kumar, R., and Panda, S.K., (2011). Design Modeling and Open-Loop Control of a BCF Mode Bio-Mimetic Robotic Fish, 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics, Kyoto, pp:226-231.
- Zhou, C., Cao, Z., Wang, S., and Tan, M., (2008). The Dynamic Analysis of the Backward Swimming Mode for Biomimetic Carangiform Robotic Fish, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, pp:3072-3076.
- Dung, L.T., Kang, H., and Ro, Y., (2010). Robot Manipulator Modeling in Matlab-Simmechanics with PD Control and Online Gravity Compensation, in Strategic Technology (IFOST), 2010 International Forum on, pp:446-449.
- Liui J., Cheni G., Gongi Y., and Cheni H., (2011). Modeling and Simulation of Loader Working Device Based on Simmechanics, in Transportation, Mechanical, and Electrical Engineering (TMEE), 2011 International Conference on, pp:2054-2057.
- Fatehi, M.H., Vali, A.R., Eghtesad, M., and Fatehi, A.A., (2011). Modeling and Control of 3-PRS Parallel Robot and Simulation Based on SimMechanics in MATLAB, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on, pp:785-790.
- Tang, L., Zhang, L., and Ru, F., (2012). SimMechanics Model and LQR Control for Linear Double Inversed Pendulum Based on Kalman Filter, in Systems and Informatics (ICSAI), 2012 International Conference on, pp:462-464.
- Ding, B., Li, Y., and Tang, Y., (2015). Workspace analysis for a 3-DOF Compliant Parallel Mechanism Based on SimMechanics, in Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2015 IEEE 7th International Conference on, pp:48-53.
Year 2017,
Volume: 12 Issue: 1, 29 - 39, 15.01.2017
Abstract
References
- Liu, T.J. and Hu H., (2010). Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish, Journal of Bionic Engineering, Volume:7.
- Yan, Q., Han, Z., Zhang, S., and Yang, J., (2008). Parametric Research of Experiments on a Carangiform Robotic Fish, Journal of Bionic Engineering, Volume:5.
- Vo, T.Q., Kim, H.S., and Lee, B.R., (2009). Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Climbing Algorithm, Journal of Bionic Engineering, Volume:6.
- Ren, Q., Xu, J., and Li, X., (2015). A Data-driven Motion Control Approach for a Robotic Fish, Journal of Bionic Engineering, Volume:12.
- Yu, J. and Yi, C., (2009). Analysis of Relationship between Efficiency and Motion Parameters of Robotic Fish, Intelligent Human-Machine Systems and Cybernetics.
- Hirata K., (?). Design and Manufacturing of a Small Fish Robot, Processing of Japan Society for Design Engineering.
- Triantafyllou, M.S. and Triantafyllou, G.S., (1995). An Efficient Swimming Machine, Scientific American, Vol:272.
- Zhou, C., Tan, M., Cao, Z., Wang, S., Creighton, D., Gu, N., and Nahavandi, S., (2008). Kinematic Modeling of a Bio-inspired Robotic Fish, ICRA 2008.
- Suebsaiprom, P. and Lin, C., (2015). Maneuverability Modeling And Trajectory Tracking For Fish Robot, Control Engineering Practice, Volume:45.
- Wang, J., Alequin-Ramos, F., and Tan, X., (2011). Dynamic Modeling of Robotic Fish and its Experimental Validation, Intelligent Robots and Systems (IROS).
- Ding, R., Yu, J., Yang, Q., Tan, M., and Zhang, J., (2009). CPG-Based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot, in Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, pp:1657-1662.
- Chowdhury, A.R., Prasad, B., Kumar, V., Kumar, R., and Panda, S.K., (2011). Design Modeling and Open-Loop Control of a BCF Mode Bio-Mimetic Robotic Fish, 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics, Kyoto, pp:226-231.
- Zhou, C., Cao, Z., Wang, S., and Tan, M., (2008). The Dynamic Analysis of the Backward Swimming Mode for Biomimetic Carangiform Robotic Fish, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, pp:3072-3076.
- Dung, L.T., Kang, H., and Ro, Y., (2010). Robot Manipulator Modeling in Matlab-Simmechanics with PD Control and Online Gravity Compensation, in Strategic Technology (IFOST), 2010 International Forum on, pp:446-449.
- Liui J., Cheni G., Gongi Y., and Cheni H., (2011). Modeling and Simulation of Loader Working Device Based on Simmechanics, in Transportation, Mechanical, and Electrical Engineering (TMEE), 2011 International Conference on, pp:2054-2057.
- Fatehi, M.H., Vali, A.R., Eghtesad, M., and Fatehi, A.A., (2011). Modeling and Control of 3-PRS Parallel Robot and Simulation Based on SimMechanics in MATLAB, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on, pp:785-790.
- Tang, L., Zhang, L., and Ru, F., (2012). SimMechanics Model and LQR Control for Linear Double Inversed Pendulum Based on Kalman Filter, in Systems and Informatics (ICSAI), 2012 International Conference on, pp:462-464.
- Ding, B., Li, Y., and Tang, Y., (2015). Workspace analysis for a 3-DOF Compliant Parallel Mechanism Based on SimMechanics, in Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2015 IEEE 7th International Conference on, pp:48-53.
There are 18 citations in total.
Details
| Subjects | Engineering |
|---|---|
| Journal Section | Articles |
| Authors | |
| Publication Date | January 15, 2017 |
| Published in Issue | Year 2017 Volume: 12 Issue: 1 |