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물고기 로봇 개발을 위한 유연한 꼬리 지느러미 관절의 강성에 따른 최대 추력 조건 연구
박용재(Yong-Jai Park),정우석(Useok Jeong),이정수(Jeongsu Lee),권석령(Seok-Ryung Kwon),김호영(Ho-Young Kim),조규진(Kyu-Jin Cho) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.2
Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.