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Three-Dimensional Dynamic Modeling and Motion Analysis for an Active-Tail-Actuated Robotic Fish with Barycentre Regulating Mechanism

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Document pages: 11 pages

Abstract: Dynamic modeling has been capturing attention for its fundamentality inprecise locomotion analyses and control of underwater robots. However, theexisting researches have mainly focused on investigating two-dimensional motionof underwater robots, and little attention has been paid to three-dimensionaldynamic modeling, which is just what we focus on. In this article, athree-dimensional dynamic model of an active-tail-actuated robotic fish with abarycentre regulating mechanism is built by combining Newton s second law forlinear motion and Euler s equation for angular motion. The model parameters aredetermined by three-dimensional computer-aided design (CAD) softwareSolidWorks, HyperFlow-based computational fluid dynamics (CFD) simulation, andgrey-box model estimation method. Both kinematic experiments with a prototypeand numerical simulations are applied to validate the accuracy of the dynamicmodel mutually. Based on the dynamic model, multiple three-dimensional motions,including rectilinear motion, turning motion, gliding motion, and spiralmotion, are analyzed. The experimental and simulation results demonstrate theeffectiveness of the proposed model in evaluating the trajectory, attitude, andmotion parameters, including the velocity, turning radius, angular velocity,etc., of the robotic fish.

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