고체형 꼬리 지느러미로 오스트라키폼 유영을 하는 물고기 로봇의 패러미터 식별 및 성능 분석

Experimental Parameter Identification and Performance Analysis of a Fish Robot with Ostraciiform Swimming Mode using Rigid Caudal Fins

The ostraciiform swimming mode allows the simplest mechanical design and control for underwater vehicle swimming. Propulsion is achieved via the flapping of caudal fin without the body undulatory motion. In this research, the propulsion of underwater vehicles by ostraciiform swimming mode is explored experimentally using an ostraciiform fish robot and some rigid caudal fins. The effects of caudal fin flapping frequency and amplitude on the cruising performance are studied in particular. A theoretical model of propulsion using rigid caudal fin is proposed and identified with the experimental data. An experimental method to obtain the drag coefficient and the added mass of the fish robot is also proposed.