Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure

摘要

Biomimetic robots have attracted many researches around the world and also living creatures are the best models in biomimetic robotic engineering design. This paper is the combination of three creatures such as tuna, inchworm, gammarus. They are used in order for shortcoming of unrealized multi-functionality. Hence, this paper describes a robot based on the most optimal possible in its field. The dynamic modeling of a flexible tail in the proposed robot are mentioned in detail. The robotic fish is composed of two links connected by an actuated joint; the frontal link is rigid and acts as the robotic fish body, while the rear link serves as the tail. The latter comprises a rigid element connected to a flexible caudal fin, whose underwater vibration is responsible for propulsion. The dynamics of the frontal link are described using Kirchhoff’s equations of motion for rigid bodies in quiescent fluids. The tail vibration is modeled using Euler–Bernoulli beam Theory. Such methods could be a prospect approach for further research in the field of underwater robots.