[ Log In | Register]
! Skip Navigation Links
Skip Navigation Links
Image of Journal of Applied Nonlinear Dynamics
ISSN:2164-6457 (print)
ISSN:2164-6473 (online)
Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain

Email: miguel.sanjuan@urjc.es

Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email: aluo@siue.edu

Design of hand-Sized Torpedo-Like Fish Robot with the Dynamics and Hydrodynamics Analysis

Journal of Applied Nonlinear Dynamics 14(3) (2025) 605--613 | DOI:10.5890/JAND.2025.09.008

Farah Abbas Naser

Southern Technical University, Basrah Engineering Technical College, Basrah-Iraq

Download Full Text PDF

 

Abstract

Robotic fish have evolved to accomplish numerous inaccessible tasks and investigations in unreachable aquatic environments. Recently, the increasing interest in underwater exploration motivates the development of aquatic unmanned vehicles. Biomimetic robots have been developed by researchers based on the different parameters including maneuverability, cruising speed, and propulsion efficiency. This paper presents a design of torpedo-like fish robot with the required dynamics and hydrodynamics performance characteristics through Computational Fluid Dynamic application (SolidWorks Flow Simulation). The suggested model is built with a torpedo-shape to reduce drag forces while increasing thrust. The robot is propelled by a propeller fan with different number of blades (i.e., 2, 3, 4 and 5 blades). The propeller is actuated by a dc motor with (0 to 100 RPM). The required dynamics like motor torque, power consumption and angular velocities were calculated and compared with the hand calculations to validate our design.

References

  1. [1]  Naser, F. and Rashid, M. (2022), Design and implementation of a swimming robot with pectoral fins only, Robotica, 40(10), 3557-3585. DOI:10.1017/S0263574722000406.
  2. [2]  Naser, F., Rashid, M., and Fortuna, L. (2021), Underwater Labriform-Swimming Robot, World Scientific Book, pp. 208.
  3. [3]  Naser, F.A. and Rashid, M.T. (2021), Labriform swimming robot with steering and diving capabilities, Journal of Intelligent $\&$ Robotic Systems, 103, 14. https://doi.org/10.1007/s10846-021-01454-7.
  4. [4]  Naser, F.A. and Rashid, M.T. (2021), Design and realization of Labriform mode swimming robot based on concave pectoral fins, Journal of Applied Nonlinear Dynamics, 10(4), 675-694. DOI:10.5890/JAND.2021.12.008.
  5. [5]  Naser, F.A. and Rashid, M.T. (2021), Implementation of steering process for Labriform swimming robot based on differential drive principle, Journal of Applied Nonlinear Dynamics, 10(4), 721-737. DOI:10.5890/JAND.2021.12.011.
  6. [6]  Naser, F.A., Jaber, H.A., Rashid, M.T., and Jasim, B.H. (2021), A sperm-based autonomous micro-robot: First step, IFAC-PapersOnLine, 54(17), 117-122.
  7. [7]  Rashid, M.T., Naser, F.A., and Mjily, A.H. (2020), Autonomous micro-robot like sperm based on piezoelectric actuator, 2020 International Conference on Electrical, Communication, and Computer Engineering (ICECCE), Istanbul, Turkey, 1-6. doi:10.1109/ICECCE49384.2020.9179437.
  8. [8]  Li, Y., Xu, Y., Wu, Z., Ma, L., Guo, M., Li, Z., and Li, Y. (2022), A comprehensive review on fish-inspired robots, International Journal of Advanced Robotic Systems, 19(3). https://doi.org/10.1177/ 17298806221103707.
  9. [9]  Lauder, G.V. (2015), Fish locomotion: Recent advances and new directions, Annual Review of Marine Science, 7, 521-545. https://doi.org/10.1146/annurev-marine-010814-015614.
  10. [10]  Wen, L., Wang, T., Wu, G., and Liang, J. (2013), Quantitative thrust efficiency of a self-propulsive robotic fish: Experimental method and hydrodynamic investigation, IEEE/ASME Transactions on Mechatronics, 18, 1027-1038. https://doi.org/10.1109/tmech.2012.2194719.
  11. [11]  Reddy, N.S., Sen, S., and Shome, S.N. (2016), An investigation on the performance of an oscillating flat plate fin with compliant joint for underwater robotic actuation, In Proceedings of the 1st IEEE International Conference on Control, Measurement and Instrumentation (CMI) (pp. 201-205). IEEE.
  12. [12]  Katzschmann, R.K., DelPreto, J., MacCurdy, R., and Rus, D. (2018), Exploration of underwater life with an acoustically controlled soft robotic fish, Science Robotics, 3. https://doi.org/10.1126/scirobotics.aar3449.
  13. [13]  Liang, J., Wang, T., and Wen, L. (2011), Development of a two-joint robotic fish for real-world exploration, Journal of Field Robotics, 28, 70-79. DOI:10.1002/rob.20363.
  14. [14]  Li, G., Chen, X., Zhou, F., Liang, Y., Xiao, Y., Cao, X., Zhang, Z., Zhang, M., Wu, B., Yin, S., and Xu, Y. (2021), Self-powered soft robot in the Mariana Trench, Nature, 591, 66-71. https://doi.org/10.1038/s41586-020-03153-z.
  15. [15]  Naser, F.A. and Rashid, M.T. (2021), Enhancement of labriform swimming robot performance based on morphological properties of pectoral fins, Journal of Control Automation and Electrical Systems, 32, 927-941. https://doi.org/10.1007/s40313-021-00712-1.
  16. [16]  Naser, F.A. and Rashid, M.T. (2020), The influence of concave pectoral fin morphology in the performance of labriform swimming robot, International Journal of Electrical Engineering $\&$ Electronics, 16(1), 7.
  17. [17]  Naser, F.A. and Rashid, M.T. (2019), Effect of Reynolds number and angle of attack on the hydrodynamic forces generated from a bionic concave pectoral fin, In IOP Conference Series: Materials Science and Engineering (Vol. 745). The Fourth Scientific Conference for Engineering and Postgraduate Research.
  18. [18]  Naser, F.A. and Rashid M.T. (2019), Design modeling and experimental validation of a concave-shape pectoral fin of a labriform-mode swimming robot, Engineering Reports, 1(1), 1-17.
  19. [19]  Abu Arqub, O. (2020), Numerical simulation of time-fractional partial differential equations arising in fluid flows via reproducing kernel method, International Journal of Numerical Methods for Heat $\&$ Fluid Flow, 30(11), 4711-4733.
  20. [20]  Abu Arqub, O. (2018), Numerical solutions for the Robin time-fractional partial differential equations of heat and fluid flows based on the reproducing kernel algorithm, International Journal of Numerical Methods for Heat $\&$ Fluid Flow, 28(4), 828-856.
  21. [21]  Zhang, F., En-Nasr, O., Litchman, E., and Tan, X. (2016), Autonomous sampling of water columns using gliding robotic fish: Algorithms and harmful-algae-sampling experiments, IEEE Systems Journal, 10, 1271-1281. https://doi.org/10.1109/jsyst.2015.2458173.
  22. [22]  Zhang, F., Wang, J., Thon, J., Thon, C., Litchman, E., and Tan, X. (2014), Gliding robotic fish for mobile sampling of aquatic environments, In Proceedings of the IEEE 11th International Conference on Networking, Sensing and Control (ICNSC) (pp. 167-172). IEEE.
  23. [23]  Fattah, S.A., Abedin, F., Ansary, M.N., Rokib, M.A., Saha, N. and Shahnaz, C. (2016), R3Diver: Remote robotic rescue diver for rapid underwater search and rescue operation, In Proceedings of the IEEE Region 10 Conference (TENCON) (pp. 3280-3283).
  24. [24]  Wu, Z., Liu, J., Yu, J., and Fang, H. (2017), Development of a novel robotic dolphin and its application to water quality monitoring, IEEE/ASME Transactions on Mechatronics, 22, 2130-2140. https://doi.org/10.1109/tmech.2017.2722009.
  25. [25]  Hayder, M.A.H., Goktepeli, I., Yagmur, S., Ozgoren, M., Kose, F., and Kavurmacioglu, L.A. (2018), Experimental investigation of flow structures around a torpedo-like geometry placed in a boundary layer flow, Universal Journal of Mechanical Engineering, 6(1), 1-8. https://doi.org/10.13189/ujme.2018.060101.
  26. [26]  Zhao, H., Liu, X., Li, D., Wei, A., Luo, K., and Fan, J. (2016), Vortex dynamics of a sphere wake in proximity to a wall, International Journal of Multiphase Flow, 79, 88-106.
  27. [27]  Chen, W., Xia, D., and Liu, J. (2008), Modular design and realization of a torpedo-shape robot fish, In Proceedings of the 2008 IEEE International Conference on Mechatronics and Automation, 125-130. https://doi.org/10.1109/ICMA.2008.4798738.
  28. [28]  Yeo, K.B., Choong, W.H., and Hau, W.Y. (2014), Wageningen-B marine propeller performance characterization through CFD, Journal of Applied Sciences, 14, 1215-1219.
  29. [29]  Marthin, S., and Sharma, A.K. (2014), Analysis of rainwater harvesting and its utilization for pico hydro power generation, International Journal of Advanced Research in Computer Engineering $\&$ Technology (IJARCET), 3(6), 2121-2126.
  30. [30]  Prasetyo, H., Budiana, E.P., Tjahjana, D., and Hadi, S. (2018), The simulation study of horizontal axis water turbine using flow simulation SolidWorks application, IOP Conference Series. https://doi.org/10.1088/1757-899x/308/1/012022.
  31. [31]  Goncharov, V.K. and Klementieva, N.Y. (2023), Parameterization of the propeller thrust for modelling ship braking in ice channel behind icebreaker, Transportation Safety and Environment, 5(1), tdac042. https://doi.org/10.1093/tse/tdac042.
  32. [32]  Yu, K., Yan, P., and Hu, J. (2020), Numerical analysis of blade stress of marine propellers, Journal of Marine Science and Application, 19, 436-443. https://doi.org/10.1007/s11804-020-00161-3.

Copyright © 2011-2024 L & H Scientific Publishing. All rights reserved. Wildcard SSL Certificates