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Abstract—This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
Achat du livre
High Speed Robotics. Mechanical Engineering and Kinematics for Maximum Velocity Robotics. - 3: Robotic Fish iSplash-II, Richard James Clapham
- Langue
- Année de publication
- 2016
- Reliure
- (souple),
- État du livre
- Bon
- Prix
- 8,99 €
Modes de paiement
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- Titre
- High Speed Robotics. Mechanical Engineering and Kinematics for Maximum Velocity Robotics. - 3: Robotic Fish iSplash-II
- Sous-titre
- Realizing Fast Carangiform Swimming to Outperform a Real Fish
- Langue
- Anglais
- Auteurs
- Richard James Clapham
- Publié
- 2016
- Format
- souple
- Pages
- 32
- ISBN10
- 1537270907
- ISBN13
- 9781537270906
- Séries
- Mots clés
- Technologie, Robotique
- Description
- Abstract—This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.