Nonlinear Dynamics of Robot Fish Flexible Tail Motion

Rare Attractors and Rare Phenomena in Nonlinear Dynamics : Proceedings of the 2nd International Symposium RA'11 2011
Jānis Vība, Edgars Kovals, Igors Tipāns, Guntis Kuļikovskis, Jean-Guy Fontaine, Maarja Kruusmaa, William Megill

The objective of this work is to develop mechanical design for biomimetic underwater vehicle. The aim in future is to construct vehicle prototypes with propulsion mechanisms with the lowest possible complexity by using vibrations and shockwaves. Such mechanical design can be than used to produce various gait patterns in response to various hydrodynamic events. This paper considers dynamics of a console beam (approximate model of robot fish tail with caudal fin) while moving the contact point with a hull (applicable for any law of motion). In our research we assume that medium resistance is linearly dependent on velocity, and the bending form of elastic line of a tail is set in advance. Simplified differential equations of system's movement are generated and approximate solution for engineering calculations is offered.

Keywords
biomimetic, underwater vehicle, flexible tail

Vība, J., Kovals, E., Tipāns, I., Kuļikovskis, G., Fontaine, J., Kruusmaa, M., Megill, W. Nonlinear Dynamics of Robot Fish Flexible Tail Motion. In: Rare Attractors and Rare Phenomena in Nonlinear Dynamics : Proceedings of the 2nd International Symposium RA'11, Latvia, Rīga-Jūrmala, 16-20 May, 2011. Riga: Riga Technical University, 2011, pp.177-187. ISBN 978-9934-10-142-7.

Publication language
English (en)