In this study, we investigate the modeling framework for a robotic fish actuated by a flexible caudal fin, which is filled with electrorheological (ER) fluid and thus enables tunable stiffness. This feature can be used in optimizing the robotic fish speed or maneuverability in different operating regimes. The robotic fish is assumed to be anchored and the flexible tail undergoes undulation activated by a servomotor at the base. Lighthill’s large-amplitude elongated-body theory is used to calculate the hydrodynamic force on the caudal fin, and Hamilton’s principle is used to derive the dynamic equations of motion of the caudal fin. The dynamic equations are then discritized using the finite element method, to obtain an approximate numerical solution. In particular, simulation is conducted to understand the influence of the applied electric field on the stiffness and thrust performance of the caudal fin.
- Dynamic Systems and Control Division
Dynamic Modeling of Robotic Fish Caudal Fin With Electrorheological Fluid-Enabled Tunable Stiffness
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Bazaz Behbahani, S, & Tan, X. "Dynamic Modeling of Robotic Fish Caudal Fin With Electrorheological Fluid-Enabled Tunable Stiffness." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T49A006. ASME. https://doi.org/10.1115/DSCC2015-9879
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