Dynamic analysis and optimization of soft robotic fish using fluid-structural coupling method

Aiming to design a soft robotic fish with more natural, more flexible and high-performance movements through biomimetic method, we are developing a soft robotic fish with body/caudal fin (BCF) propulsion by using piezoelectric fiber composite (PFC) as actuator. Compared with conventional rigid robotic fish, the design and control of the soft robotic fish are difficult and hard to reveal its dynamic performances due to the large deformation of flexible structure and complicated coupling dynamics with fluid. That's why the design and control method of the soft robotic fish has not been established, and we need to study it by considering the interaction between flexible structure and fluid. In this paper, fluid-structural coupling analysis based on acoustics method is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish using PFC in fluid. Basic driving and governing equations of soft robotic fish in the fluid are firstly described. Then the numerical acoustics coupling analysis is performed. The calculated results are congruent well with experiments on dynamic responses. Finally, based on this coupling method, a new prototype of soft robotic fish is proposed by optimization for improvement.

[1]  Mohsen Shahinpoor,et al.  Biomimetic robotic propulsion using polymeric artificial muscles , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  M. B. Xu Three methods for analyzing forced vibration of a fluid-filled cylindrical shell , 2003 .

[3]  Xinyan Deng,et al.  Biomimetic Micro Underwater Vehicle with Oscillating Fin Propulsion: System Design and Force Measurement , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[4]  Liping Sun,et al.  Fluid-structure coupled analysis of underwater cylindrical shells , 2008 .

[5]  T. Fukuda,et al.  Giant magnetostrictive alloy (GMA) applications to micro mobile robot as a micro actuator without power supply cables , 1991, [1991] Proceedings. IEEE Micro Electro Mechanical Systems.

[6]  K. H. Low,et al.  Biomimetic Motion Planning of an Undulating Robotic Fish Fin , 2006 .

[7]  Hans-Joachim Bungartz,et al.  Fluid Structure Interaction II: Modelling, Simulation, Optimization , 2010 .

[8]  Dimitris C. Lagoudas,et al.  Development of a Shape-Memory-Alloy Actuated Biomimetic Hydrofoil , 2002 .

[9]  H. Djojodihardjo,et al.  BEM-FEM Acoustic-Structure Interaction For Modeling and Analysis of Spacecraft Structures Subject to Acoustic Excitation , 2007, 2007 3rd International Conference on Recent Advances in Space Technologies.

[10]  Akio Yamamoto,et al.  Electrostatically Actuated Robotic Fish: Design and Control for High-Mobility Open-Loop Swimming , 2008, IEEE Transactions on Robotics.

[11]  Youngil Youm,et al.  Design and dynamic analysis of fish robot: PoTuna , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  S. H. Sung,et al.  A Coupled Structural-Acoustic Finite Element Model for Vehicle Interior Noise Analysis , 1984 .

[13]  Chunlin Zhou,et al.  Performance study of a fish robot propelled by a flexible caudal fin , 2010, 2010 IEEE International Conference on Robotics and Automation.

[14]  Hiroshi Kagemoto Why do Fish Have a “Fish-Like Geometry”? , 2014 .

[15]  F.S. Hover,et al.  Review of experimental work in biomimetic foils , 2004, IEEE Journal of Oceanic Engineering.

[16]  Huosheng Hu Biologically Inspired Design of Autonomous Robotic Fish at Essex , 2006 .

[17]  Xiaobo Tan,et al.  Analytical modeling and experimental studies of robotic fish turning , 2010, 2010 IEEE International Conference on Robotics and Automation.

[18]  Shuxiang Guo,et al.  Underwater Swimming Micro Robot Using IPMC Actuator , 2006, 2006 International Conference on Mechatronics and Automation.

[19]  Auke Jan Ijspeert,et al.  AmphiBot I: an amphibious snake-like robot , 2005, Robotics Auton. Syst..

[20]  F. Durst,et al.  Low-Reynolds-number flow around an oscillating circular cylinder at low Keulegan–Carpenter numbers , 1998, Journal of Fluid Mechanics.

[21]  John Muir Kumph Maneuvering of a robotic pike , 2000 .