This book provides a simplified description of how to design an underwater swimming robot, inspired by the mechanism of the Labriform mode of fish. This style of swimming depends on the pectoral fins only as a main locomotor for movement. A unique model with fins having a concave shape allows the highest thrust force to be achieved during the power period and the lowest drag force during the recovery period, especially if the velocity values between the powering and recovery periods are manipulated.Besides the ability to swim quickly, the proposed model was also inspired by a method of maneuvering based on the principle of differential drive for two-wheel mobile robot, achieving the minimum turning radius by controlling the speed of the rowing fins.Also, by applying the technique of the diving model used by gliders, the robot achieves underwater gliding by changing the center of the body's mass. Thus, the robot obtains the ability to dive and float in a manner similar to the Sawtooth wave.All the mentioned tasks were conducted via laboratory experiments and proven to be both effective and efficient.
Author(s): Farah Abbas Naser, Mofeed Turky Rashid, Luigi Fortuna
Series: Topics in Systems Engineering, 1
Publisher: World Scientific Publishing
Year: 2021
Language: English
Pages: 207
City: Singapore
CONTENTS
Preface
1. Introduction
1.1. Overview
1.2. Literature Review
1.3. Organization of Chapters
1.3.1. Chapter 2
1.3.2. Chapter 3
1.3.3. Chapter 4
1.3.4. Chapter 5
1.3.5. Chapter 6
References
2. Design and Validation of the Pectoral Fins
2.1. Introduction
2.2. The Description of Fins
2.2.1. Propulsion by Undulation of Median or Pectoral Fins
2.2.1.1. Amiiform Mode
2.2.1.2. Gymnotiform Mode
2.2.1.3. Balastiform Mode
2.2.1.4. Rajiform Mode
2.2.1.5. Diodontiform Mode
2.2.2. Propulsion by Oscillation of Median or Pectoral Fins
2.2.2.1. Tetraodontiform Mode
2.2.2.2. Labriform Mode
2.3. Employing Pectoral Fin as Locomotors
2.4. Optimum Design of Pectoral Fins
2.5. Modeling the Pectoral Fins of Swimming Robot
2.6. Hydrodynamic Force of Pectoral Fins
2.7. Design of Pectoral Fins
2.8. Validation of Pectoral Fins Design
2.8.1. The Computational Fluid Dynamics (CFD) Analysis
2.8.2. Simulation Results
2.8.3. Practical Experiments Result
2.9. Conclusions
References
3. Swimming Robot Design
3.1. Introduction
3.2. Construction of the Swimming Robot
3.2.1. The Waterproof Body Part
3.2.2. The Head Part
3.3. Hydrodynamic Reactive Force and Moment Evaluation
3.4. Rigid Body Dynamics
3.5. Improvement of the Pectoral Fin Performance
3.6. Parameter Identification
3.7. Simulation and Experimental Results
3.7.1. The Effect of the Starting Angle
3.7.2. Power to Recovery Ratio Effect
3.7.3. Frequency Effect
3.8. Performance in Terms of Dimensionless Numbers
3.8.1. Strouhal Number
3.8.2. Reynolds Number
3.8.3. Amplitude to Length Ratio
3.9. Conclusion
References
4. Steering Process of Swimming Robot
4.1. Introduction
4.2. Steering by a Caudal Fin in the Boxfish
4.2.1. Background
4.2.2. Model, Caudal Peduncle and Caudal Fin Reconstruction
4.2.3. Specification of Environment Measurements
4.2.4. Computational Fluid Dynamics (CFD) Simulations
4.2.5. Results
4.2.5.1. Rigid tail model and turnable tail model: No caudal fin at tail angle θ of 0°
4.2.5.2. Rigid tail model and turnable tail model: Closed caudal fin and open caudal fin at tail angle θ of 0°
4.2.5.3. Turnable tail model: Closed caudal fin and open caudal fin at tail angles θ of 0°, 10°, 20°, 30° and 40°
4.2.5.4. Hydrodynamic forces on the body, caudal peduncle and caudal fin
4.2.6. Discussion and Conclusion
4.3. Steering by Pectoral Fin in Swimming Robot
4.3.1. Steering Process
4.3.2. Simulation and Experimental Results
4.3.2.1. Experimental setup
4.3.2.2. Experimental results
4.3.3. Conclusions
References
5. Diving Process of Swimming Robot
5.1. Introduction
5.2. Diving System of Carangiform Swimming Robot
5.2.1. Design Procedure of the Swimming Robot
5.2.2. Mechanical Design of the Swimming Robot
5.2.3. Propulsive Two-Link Tail Mechanism
5.2.4. CoG Control Mechanism Design
5.2.5. The Front View of Unit Design
5.2.6. Electronic System Design of the Swimming Robot
5.2.7. Experimental Results and Discussion
5.2.8. Conclusions
5.3. Diving System of Labriform Swimming Robot
5.3.1. Diving System of Swimming Robot
5.3.2. Modeling of Diving System
5.3.2.1. Swimming robot kinematic model
5.3.2.2. Swimming robot dynamic model
5.3.3. Simulation and Experimental Results
5.3.3.1. Simulation results
5.3.3.2. Practical experimental results
5.3.4. Conclusion
References
6. Conclusions
Index
