Dynamic Modeling of Flexible Tail for bio-inspired dogfish shark (squalus Acanthias)-inchworm with multifunctional locomotion

In this paper an analysis on a research which is based on fabrication and performance of an underwater robotics including mimicking the propulsion mechanism and physical appearance of both inchworm and fish is done. The proposed micro-robot was used for amphibious application. In order to implement more functions of robot, an insect-inspired robot with four motion attitudes was proposed. Two of actuators (ICPF) are utilized to implement grasping. To create a compact structure with efficient and precise locomotion, and multi‐functionality, a novel micro-robot with eleven ICPF actuators for locomotion and underwater operation are developed, and also two SMA actuators for attitude change are used. The dynamic modeling of flexible tail in the proposed micro-robot is deeply mentioned and it is non-uniform. Finding analytical solutions of Eigen functions for the lateral movement and development of this system can be a prospect approach for further research in the field of underwater micro-robot.

کلیدواژه ها:

Biomimetic fin & tail ، Micro-mechanismICPF actuators ، inchworm & fish ، hydrodynamic modeling ، robot