Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

查看全文 作　　者：Yueri Cai,Shusheng Bi,Licheng Zheng Robotics Institute,Beihang University,Beijing 100191,P.R.China

出　　处：《Journal of Bionic Engineering》索引2010年第7卷第2期,共7页

基　　金：supported by the National High Technology Research and Development Program of China(863 Program);Program for New Century Excellent Talents in University 摘　　要：The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s^-1’and thrust coefficient of 0.56 in maximum are achieved in experiments. 关键词：ROBOTIC FISH cow-nosed RAY flexible structure St Number THRUST COEFFICIENT

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Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

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