Tail-Actuator Propulsion Device for Aquatic Robot

Andrea Manuello Bertetto; Maurizio Ruggiu

doi:10.20965/jrm.2006.p0089

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JRM Vol.18 No.1 pp. 89-96

doi: 10.20965/jrm.2006.p0089

(2006)

Paper:

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Tail-Actuator Propulsion Device for Aquatic Robot

Andrea Manuello Bertetto, and Maurizio Ruggiu

Dipartimento di Ingegneria Meccanica, University of Cagliari, Piazza D’Armi, 1-09123 Cagliari

Received:

July 25, 2005

Accepted:

October 3, 2005

Published:

February 20, 2006

Keywords:

marine-robot, biomimetics, pneumatic muscle actuator

Abstract

In this paper an aquatic device inspired to the fish propulsion is proposed. At the first, the operating principle of the fluidic actuator and its experimental characterization are presented. Then, the results of numerous tests carried out on the integrated tail-actuator device are shown either in terms of thrust exerted or as biomorphism of its kinematics. The tests were run at several driven frequencies with different fins depending on their geometrical dimensions and compliances. On the other hand, a simplified mathematical model of the propulsion system, based on the calculation of the instantaneous tail kinematics and dynamics by means of a numerical procedure, is proposed with the aim of simulating performances either in terms of thrust exerted or kinematics behavior. Finally a discussion about the results obtained and a comparison between experimental and numerical data are presented.

Cite this article as:

A. Bertetto and M. Ruggiu, “Tail-Actuator Propulsion Device for Aquatic Robot,” J. Robot. Mechatron., Vol.18, No.1, pp. 89-96, 2006.

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References

[1] J. Gray, “Studies in Animal Locomotion, VI. The propulsive Powers of the Dolphin,” Journal of Experimental Biology, Vol.13, pp. 192-199, 1936.
[2] M. J. Lighthill, “Aquatic Animal Propulsion of High Hydromechanical Efficiency,” Journal of Fluid Mechanics, Vol.44, pp. 265-301, 1970.
[3] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, “Review of fish swimming modes for aquatic locomotion,” IEEE Journal of Oceanic Engineering, Vol.24, pp. 237-252, 1999.
[4] B. G. Tong, “Propulsive mechanism of fish’s undaootry motion,” Mechanics in Engineering, Vol.22, pp. 69-74, 2000.
[5] M. S. Triantafyllou, and G. S. Triantafyllou, “An efficient swimming machine,” Scientific American, pp. 64-70, 1995.
[6] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, “An experimental undulating-fin device using the Parallel Bellows Actuator,” Proceedings of the 2001 IEEE Conference on Robotics and Automation, Seoul, Korea, pp. 2356-2360, May, 2001.
[7] A. Costamagna, M. Carello, C. Ferraresi, and A. Manuello Bertetto, “Flexible pneumatic actuators fir underwater robot,” Proceedings of the 3rd FPNI-PHD Symposium Fluid Power, Terrassa, Spain, pp. 59-66, June, 2004.
[8] J. Yu, S. Wang, and M. Tan, “A simplified propulsive model of biomimetic robot fish and its realization,” Robotica, Vol.23, pp. 101-107, 2005.
[9] K. A. Harper, M. D. Berkemeier, and S. Grace, “Modeling the dynamics of spring-driven oscillating-foil propulsion,” IEEE Journal of Oceanic Engineering, Vol.23, pp. 285-296, 1998.
[10] S. D. Kelly, and R. M. Murray, “Modelling efficient pisciform swimming for control,” International Journal Robust and Nonlinear Control, Vol.10, pp. 217-241, 2000.
[11] A. Manuello Bertetto, and M. Ruggiu, “A novel fluidic bellow manipulator,” Journal of Robotics and Mechatronics, Vol.16, No.6, pp. 604-612, 2004.
[12] Working Model 2D User’s Manual, MSC Working Knowledge, 2000.
[13] A. Manuello Bertetto, B. Picasso, and M. Ruggiu, “Fish and ships: can fish inspired propulsion outperform traditional propeller based systems?” Proceedings of the Conference Marine Technology IV, Szczecin, Poland, pp. 279-287, 2001.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] J. Gray, “Studies in Animal Locomotion, VI. The propulsive Powers of the Dolphin,” Journal of Experimental Biology, Vol.13, pp. 192-199, 1936.

[2] [2] M. J. Lighthill, “Aquatic Animal Propulsion of High Hydromechanical Efficiency,” Journal of Fluid Mechanics, Vol.44, pp. 265-301, 1970.

[3] [3] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, “Review of fish swimming modes for aquatic locomotion,” IEEE Journal of Oceanic Engineering, Vol.24, pp. 237-252, 1999.

[4] [4] B. G. Tong, “Propulsive mechanism of fish’s undaootry motion,” Mechanics in Engineering, Vol.22, pp. 69-74, 2000.

[5] [5] M. S. Triantafyllou, and G. S. Triantafyllou, “An efficient swimming machine,” Scientific American, pp. 64-70, 1995.

[6] [6] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, “An experimental undulating-fin device using the Parallel Bellows Actuator,” Proceedings of the 2001 IEEE Conference on Robotics and Automation, Seoul, Korea, pp. 2356-2360, May, 2001.

[7] [7] A. Costamagna, M. Carello, C. Ferraresi, and A. Manuello Bertetto, “Flexible pneumatic actuators fir underwater robot,” Proceedings of the 3rd FPNI-PHD Symposium Fluid Power, Terrassa, Spain, pp. 59-66, June, 2004.

[8] [8] J. Yu, S. Wang, and M. Tan, “A simplified propulsive model of biomimetic robot fish and its realization,” Robotica, Vol.23, pp. 101-107, 2005.

[9] [9] K. A. Harper, M. D. Berkemeier, and S. Grace, “Modeling the dynamics of spring-driven oscillating-foil propulsion,” IEEE Journal of Oceanic Engineering, Vol.23, pp. 285-296, 1998.

[10] [10] S. D. Kelly, and R. M. Murray, “Modelling efficient pisciform swimming for control,” International Journal Robust and Nonlinear Control, Vol.10, pp. 217-241, 2000.

[11] [11] A. Manuello Bertetto, and M. Ruggiu, “A novel fluidic bellow manipulator,” Journal of Robotics and Mechatronics, Vol.16, No.6, pp. 604-612, 2004.

[12] [12] Working Model 2D User’s Manual, MSC Working Knowledge, 2000.

[13] [13] A. Manuello Bertetto, B. Picasso, and M. Ruggiu, “Fish and ships: can fish inspired propulsion outperform traditional propeller based systems?” Proceedings of the Conference Marine Technology IV, Szczecin, Poland, pp. 279-287, 2001.