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- 저자 : Abhra Roy Chowdhury (검색결과 1 건)
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Abhra Roy Chowdhury,Bhuneshwar Prasad,Vinoth Vishwanathan,Rajesh Kumar,S. K. Panda 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics in the fluid environment. The robofish model (kinematics and dynamics) is integrated with the Lighthill(LH) mathematical model framework. Comparative studies are undertaken between a LH model based and a non-LH based model. A comprehensive propulsion mechanism study of the different parameters namely the tailbeat frequency (TBF), the propulsive wavelength and the caudal amplitude are studied under this framework. The performance factor taken for energy efficient swimming is the overall distance traversed. Inverse kinematics based approach is incorporated for trajectory generation of the robotic fish vehicle motion. Analysis of these critical parameters affecting the kinematics study of the vehicle vis a vis the real fish kinematic study [8] is carried out for a given trajectory. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions. Performances and comparative results of propulsive wavelength and amplitude affects are also shown and discussed.
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