梁建宏, 王田苗, 魏洪兴, 陶伟. 水下仿生机器鱼的研究进展II——小型实验机器鱼的研制[J]. 机器人, 2002, 24(3): 234-238..
LIANG Jian-hong, WANG Tian-miao, WEI Hong-xing, TAO Wei . RESEARCHFUL DEVELOPMENT OF UNDERWATER ROBOFISH II——DEVELOPMENT OF A SMALL EXPERIMENTAL ROBOFISH. ROBOT, 2002, 24(3): 234-238..
Abstract:This paper introduced a small experimental robofish as an experimental flat for a study of the hydrodynamics capability of robofish, which have a rigid head and flexible body of 5 DOF and lunate caudal fin. The length of the robofish is 890mm, maximal velocity is 20cm/s, maximal turning rate is 120°/s, minimal turning radius is 40cm. The experiment of general capacity and C-shape locomotion of the experimental robofish indicated that they have preferable swimming capacity and high maneuverability.
[1] Toshio Fukuda, Hidemi Hosokai, Isamu Kikuchi. Distribute Type of Actuators of Shape Memory Alloy and Its Application to Underwater Mobile Robotic Mechanisms. Proceedings of the 1990 IEEE International Conference on Robotic and Automation, 1990:1316-1321 [2] Toshio Fukuda, Atsushi Kawamoto, Fumihito Arai and Hideo Matsuura. Steering Mechanism of Underwater Micro Mobile Robot. Proceedings of the 1995 IEEE International Conference on Robotic and Automation. 1995:363-368 [3] Triantafyllou, M S Barrett, D S Yue, D K P. A New Paradigm of Propulsion and Maneuvering for Marine Vehicles. Trans Soc Naval Architects Marine Eng, 1996,104:81-100 [4] Triantafyllou M S, Triantafyllou G S. 1995. An Efficient Swimming Machine Sci Am, 1995,272:64-70 [5] D S Barrett, M S Triantafyllou, et al. Drag Reduction in Fish-like Locomotion. Journal of Fluids Mechanics. 1999,392:183-212 [6] M Nakashima, K Tokuo, K Aminaga, K Ono. Experimental Study of a Self-Propelled Two-joint Dolphin Robot. Proceedings of the Ninth International Offsore and Polar Engineering Conference, 1994:419-424 [7] Domenici P, Blake R W. The Kinematics and Performance of Fish Fast-start Swimming J Exp Biol, 1997,200:1165-1178