Robotic Fish iSplash-I: High Performance Swimming Motion of a Carangiform Roboti: Volume 1 (High Speed Robotics. Mechanical engneering and kinematics for maximum velocity robotics.) - Softcover

Clapham PhD, Richard James

Softcover

ISBN 10: 1537259636 ISBN 13: 9781537259635

Publisher: CreateSpace Independent Publishing Platform, 2016

Synopsis

Abstract—This book presents a novel robotic fish, iSplash-I, with full-body coordination and high performance carangiform swimming motion. The proposed full-body length swimming motion coordinates anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes forces around the center of mass and initiates the starting moment of added mass upstream. A novel mechanical drive system was devised operating in the two swimming patterns. Experimental results show, that the proposed carangiform swimming motion approach has significantly outperformed the traditional posterior confined undulatory swimming pattern approach in terms of the speed measured in body lengths/ second, achieving a maximum velocity of 3.4BL/s and consistently generating a velocity of 2.8BL/s at 6.6Hz.

Edition details

• Publisher: CreateSpace Independent Publishing Platform
• Publication date: 2016
• Language: English
• ISBN 10: 1537259636
• ISBN 13: 9781537259635
• Binding: Paperback
• Number of pages: 26