Investigating the interaction between fins can guide the design and enhance the performance of robotic fish.In this paper,we take boxfish as the bionic object and discuss the effect of coupling motion gaits among the ...Investigating the interaction between fins can guide the design and enhance the performance of robotic fish.In this paper,we take boxfish as the bionic object and discuss the effect of coupling motion gaits among the two primary propulsors,pectoral and caudal fins,on the heading stability of the body.First,we propose the structure and control system of the bionic boxfish prototype.Second,using a one/two-way fluid–structure interaction numerical method,we analyse the key parameters of the prototype and discuss the influence of pectoral and caudal motion gaits on the hydrodynamic performance.Finally,effect of the pectoral and caudal interactions on heading stability of the prototype is systematically analyzed and verified in experiments.Results show that the course-deviating degree,oscillation amplitudes of yawing,rolling,and pitching exhibited by the prototype are smaller than that caused by single propulsor when the motion gaits of both pectoral and caudal fins are coordinated in a specific range.This paper reveals for the first time the effect of interactions between pectoral and caudal fins,on the stability of body's course by means of Computational Fluid Dynamics and prototype experiments,which provides an essential guidance for the design of robotic fish propelled by multi-fins.展开更多
In this paper,stability properties of Tetrosomus gibbosus have been experimentally and numerically studied in pitching movements.This fish lives in southern offshores of Iran.Boxfishes usually live in extremely turbul...In this paper,stability properties of Tetrosomus gibbosus have been experimentally and numerically studied in pitching movements.This fish lives in southern offshores of Iran.Boxfishes usually live in extremely turbulent parts of seas and oceans,with high stability and maneuverability that has caught the attention of scientists.Their body shape let them swim with a quite rapid speed.Studies on Boxfishes have had influences on automotive and marine industries.The CAD file of the boxfish was created using optical CMM.Also a model was built and tested in a subsonic wind tunnel and a numerical study was conducted in virtual wind tunnel.The experimental results are consistent with the numerical ones and also support the findings of other studies on similar boxfishes.These results show that the flow around the fish,which is a consequence of its body shape,tries to maintain the stable position of the fish by resisting against the external force tilting the fish from its stable horizontal posture.The ventral and dorsal keels of the boxfish generate column-like vortices in horizontal direction which play an imperative role in maintaining the stability of the fish.展开更多
文摘Investigating the interaction between fins can guide the design and enhance the performance of robotic fish.In this paper,we take boxfish as the bionic object and discuss the effect of coupling motion gaits among the two primary propulsors,pectoral and caudal fins,on the heading stability of the body.First,we propose the structure and control system of the bionic boxfish prototype.Second,using a one/two-way fluid–structure interaction numerical method,we analyse the key parameters of the prototype and discuss the influence of pectoral and caudal motion gaits on the hydrodynamic performance.Finally,effect of the pectoral and caudal interactions on heading stability of the prototype is systematically analyzed and verified in experiments.Results show that the course-deviating degree,oscillation amplitudes of yawing,rolling,and pitching exhibited by the prototype are smaller than that caused by single propulsor when the motion gaits of both pectoral and caudal fins are coordinated in a specific range.This paper reveals for the first time the effect of interactions between pectoral and caudal fins,on the stability of body's course by means of Computational Fluid Dynamics and prototype experiments,which provides an essential guidance for the design of robotic fish propelled by multi-fins.
文摘In this paper,stability properties of Tetrosomus gibbosus have been experimentally and numerically studied in pitching movements.This fish lives in southern offshores of Iran.Boxfishes usually live in extremely turbulent parts of seas and oceans,with high stability and maneuverability that has caught the attention of scientists.Their body shape let them swim with a quite rapid speed.Studies on Boxfishes have had influences on automotive and marine industries.The CAD file of the boxfish was created using optical CMM.Also a model was built and tested in a subsonic wind tunnel and a numerical study was conducted in virtual wind tunnel.The experimental results are consistent with the numerical ones and also support the findings of other studies on similar boxfishes.These results show that the flow around the fish,which is a consequence of its body shape,tries to maintain the stable position of the fish by resisting against the external force tilting the fish from its stable horizontal posture.The ventral and dorsal keels of the boxfish generate column-like vortices in horizontal direction which play an imperative role in maintaining the stability of the fish.
