Dynamic Modeling of Robot Fish Based on Experiment

Abstract

Basis of the large-amplitude elongated body theory, the equations of motion and rigid body dynamics model of robotic fish was set up. Dynamic model of robot fish was established by using the method of Fluid Dynamics. The interaction force between tail fin and Fluid, the additional stress produced by tail vortices, and the lift and Obstruction of fish body are fully analysed. As used in this paper, the effects of Deflection, amplitude and frequency on the model are studied by three groups of experiments. The results proved that the experimental data and the calculated value of the theoretical model established in this paper, has a good consistency, can be used for the study of BCF progression pattern.