Title :
Evaluation of Balloon Fish Robot based on traveling wave equation
Author :
Haga, Masato ; Uchida, M.
Author_Institution :
Grad. Sch., Univ. of Electro-Commun., Chofu, Japan
Abstract :
Recent airship robots have been made with parts similar to aquatic animal organs in order to combine the excellent swimming abilities that fish demonstrate in water with the low energy consumption that airship robots require when flying at low speeds and altitudes. One such robot is the Balloon Fish Robot (BFR). This paper is concerned with, motion simulation and parameter optimization for the BFR´s propulsion efficiency, when propelled by traveling wave. Controlling expression of the BFR is based on the traveling wave equation; the equation of motion is defined through controlling and drag force equations. Comparative experiments of the BFR´s forward air speed in simulation and practice were implemented to evaluate the validity of simulation. Parameters of the maximum propulsion efficiency were investigated by measuring experimental air speed, maximum frequency of the tail fin, and traveling wave.
Keywords :
aerospace propulsion; aerospace robotics; frequency measurement; marine propulsion; marine systems; mobile robots; velocity measurement; BFR propulsion efficiency; airship robots; drag force equations; energy consumption; experimental air speed measurement; maximum frequency measurement; maximum propulsion efficiency; motion simulation; parameter optimization; swimming abilities; tail fin; traveling wave equation; Equations; Joints; Mathematical model; Propagation; Propulsion; Robots; Servomotors;
Conference_Titel :
Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2014 11th International Conference on
Conference_Location :
Nakhon Ratchasima
DOI :
10.1109/ECTICon.2014.6839795
