Actuation of a robotic fish caudal fin for low reaction torque

作者：Yun Dongwon^*; Kim Kyung Soo; Kim Soohyun; Kyung Jinho; Lee Sunghee

来源：Review of Scientific Instruments, 2011, 82(7): 075114.

DOI：10.1063/1.3611002

• biomechanics
• marine systems
• mobile robots
• motion control
• robot dynamics

In this paper, a novel caudal fin for actuating a robotic fish is presented. The proposed caudal fin waves in a vertical direction with a specific spatial shape, which is determined by a so-called shape factor. For a specific shape factor, a traveling wave with a vertical phase difference is formed on a caudal fin during fin motion. It will be shown by the analysis that the maximum reaction torque at the joint of a caudal fin varies depending on the shape factors. Compared with a conventional plate type caudal fin, the proposed fin with a shape factor of 2 pi can eliminate the reaction torque perfectly, while keeping the propulsion force unchanged. The benefits of the proposed fin will be demonstrated by experiments.

• 出版日期2011-7