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Computational Study on a Squid-Like Underwater Robot with Two Undulating Side Fins

Journal of Bionic Engineering 2011年第1期8卷 25-32页

作者： md. mahbubar rahman yasuyuki toda hiroshi miki Department of Naval Architecture and Ocean Engineering Graduate School of Engineering Osaka University 2-1 Yamadaoka Suita City Osaka 565-0871 Japan

The undulating fin propulsion system is an instance of the bio-inspired propulsion systems. In the current study, the swimming motion of a squid-like robot with two undulating side fins, mimicking those of a Stingray or a Cuttlefish, was investigated through flow computation around the body. We used the finite analytic method for space discretization and Euler implicit scheme for time discretization along with the PISO algorithm for velocity pressure coupling. A body-fitted moving grid was generated using the Poisson equation at each time step. Based on the computed results, we discussed the features of the flow field and hydrodynamic forces acting on the body and fin. A simple relationship among the fin＇s principal dimensions was established. Numerical computation was done for various aspect ratios, fin angles and frequencies in order to validate the proposed relationship among principal dimensions. Subsequently, the relationship was examined base on the distribution of pressure difference between upper and lower surfaces and the distribution of the thrust force. In efficiency calculations, the undulating fins showed promising results. Finally, for the fin, the open characteristics from computed data showed satisfactory conformity with the experimental results.

关键词： biomimetics squid robot undulating fin propulsion efficiency hydrodynamics CFD

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Braking Performance of a Biomimetic Squid-Like Underwater Robot

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Journal of Bionic Engineering 2013年第3期10卷 265-273页

作者： md. mahbubar rahman Sinpei Sugimori hiroshi miki Risa Yamamoto Yugo Sanada yasuyuki toda Laboratory of Hull Form Design Department of Naval Architecture and Ocean Engineering Graduate School of Engineering Osaka University Osaka 565-0871 Japan

In this study, the braking performance of the undulating fin propulsion system ofa biomimetic squid-like underwater robot was investigated through free run experiment and simulation of the quasi-steady mathematical model. The quasi-steady equa- tions of motion were solved using the measured and calculated hydrodynamic forces and compared with free-run test results. Various braking strategies were tested and discussed in terms of stopping ability and the forces acting on the stopping stage. The stopping performance of the undulating fin propulsion system turned out to be excellent considering the short stopping time and short stopping distance. This is because of the large negative thrust produced by progressive wave in opposite direction. It was confirmed that the undulating fin propulsion system can effectively perform braking even in complex underwater explorations.

关键词： biomimetics squid-like underwater robot undulating fin propulsion system braking performance motion simulation

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