IEEE Robotics & Automation Magazine - September 2019 - 31
amplitudes, it would be difficult to control the motion
depth of the bionic fish, and the dynamic deformation of
the pectoral foil would have to be more complicated.
Therefore, the influence of this kind of motion is one of our
future research objectives.
Bionic Fish Design
The mechanism of the designed inside skeleton shown in
Figure 4 was applied to mimic the pectoral foil movement
deformation of the cownose ray. Each side of the inside
skeleton is composed of three fin rays uniformly distributed
at the fin base along the chordwise direction. These fin
rays play the key role of propulsion. A one-stage sliderrocker mechanism was applied to the front fin ray, a twostage slider-rocker mechanism was used for the middle fin
ray, and the rear-fin ray was made from a well-cut flexible
carbon fiber plate with a specially designed shape, based
on the analysis previously discussed. It is driven by the
servo motor directly, without a transmission mechanism.
As can be seen in Figure 4(a), there are two fin rays located
at the tail part of the middle body. The tail fin rays function like lift rudders, assisting the pectoral foils in
Tail
ωT
ω R3
Fin Tip
ω L3
Rear Fin R
Rear Fin L
θ L3
θ R3
Joint 2
ω R2
θ R2
Middle Fin R
Middle Body
Joint 1
ω R1
Front Fin R
θ R1
ω L2
Curve from
Cownose Ray
θ L2
Middle Fin L
ω L1
Front Fin L
θ L1
Head
(a)
Key Point
Movements
Motion
Control Law
z Position
(z-Distance/Amplitude)
0.2
Angle (rad)
1
Rear Fin Ray
Servo Motor
0.4
Middle Fin Ray
Servo Motor
0
Front Fin Ray
Servo Motor
-0.2
Fin Tip
0.5
Joint 2
Joint 1
0
Calculated
Curves
Curves from
Cownose Ray
-0.5
-1
-0.4
0
T/4
T/2
3T/4
T
0
T/4
Time (t /T )
(b)
T/2
3T/4
T
Time (t /T )
(c)
Figure 4. The kinematic analysis of the inside of the designed skeleton. (a) The mechanism of the inside skeleton, (b) the driving laws
applied, and (c) the movements of the key points. L: left; R: right.
SEPTEMBER 2019
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
31
IEEE Robotics & Automation Magazine - September 2019
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2019
Contents
IEEE Robotics & Automation Magazine - September 2019 - Cover1
IEEE Robotics & Automation Magazine - September 2019 - Cover2
IEEE Robotics & Automation Magazine - September 2019 - Contents
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IEEE Robotics & Automation Magazine - September 2019 - Cover3
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