| Author: | Chao, Xu |
| Title: | Design, modelling and analysis of a biomimetic tail structure for underwater robot |
| Advisors: | Jing, Xingjian (ME) |
| Degree: | M.Sc. |
| Year: | 2020 |
| Subject: | Robotics Oceanographic submersibles Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Mechanical Engineering |
| Pages: | x, 85 pages : color illustrations |
| Language: | English |
| Abstract: | Biomimetic robots has been a hot topic for many years. Especially, robotic fish has attracted considerable attentions in the past two decades due to the high propulsion efficiency of fish. In this dissertation, a bio-inspired tail structure with multi-joints for underwater robot is proposed. Each joint is designed with 2 degrees of freedom which can help the robot to realize multi-motion mode. The passvie compliance mechanism, Series Elastic Actuator, is adopted in the joint that can protect the tail from damage when colliding with obstacle. The 3D model is built in Solidworks environment. Both the kinematics and dynamics of tail structure are studied. The kinematic model is established based on the traveling wave theory. The derived control data from kinematic model is added on the model in SimMechanics to test the motion of entire tail. And the dynamic model is built by the Lagrange equation. The differential equations of motion are solved in Matlab to study the dynamic behavior of the tail. Finally, the simulation and strength analysis are conducted in Adams to verify the accuracy of the calculation results obtained in Matlab and whether the structure can satisfy the requirement of strength with the effects of hydrodynamic forces. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 5232.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 2.67 MB | Adobe PDF | View/Open |
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