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Dynamic analysis and motion control of a fish robot driven by pectoral fins

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Cấu trúc

  • LIST OF FIGURES

  • LIST OF ABBREVIATIONS

  • CHAPTER 1 INTRODUCTION

    • 1.1 General information

    • 1.2 Motivation

    • 1.3 Aim and scope

    • 1.4 Methods and results

    • 1.5 Organization of dissertation

  • CHAPTER 2 BACKGROUND

    • 2.1 Literature review

      • 2.1.1 Morphology and anatomy in the bio-inspired design of pectoral fin

      • 2.1.2 Kinematic and experiment

      • 2.1.3 Fish robot with pectoral fin ray

      • 2.1.4 Modeling based numerical simulation

      • 2.1.5 Application of smart materials in the design of pectoral fin

      • 2.1.6 Experiment technique and data capturing

      • 2.1.7 Control issue of fish robot driven by pectoral fins

      • 2.1.8 Dynamic modeling

      • 2.1.9 Transformation fin

    • 2.2 Summary

    • 2.3 Theoretical Foundations

  • CHAPTER 3 DYNAMIC ANALYSIS AND MOTION CONTROL

    • 3.1 Fish robot with uniform fin flexible pectoral fins

      • 3.1.1 The proposed model of fish robot with uniform flexible pectoral fin

      • 3.1.2 Dynamic model of uniform flexible fins

      • 3.1.3 Hydrodynamics of the robot body

      • 3.1.4 Trajectory tracking control for robot motion

    • 3.2 Fish robot propelled non-uniform pectoral fins

      • 3.2.1 Geometric design of non-uniform pectoral fin

      • 3.2.2 Dynamic model of the robotic fish with non-uniform pectoral fins

      • 3.2.3 Motion control of the non-uniform pectoral fins

    • 3.3 Fish robot with folding pectoral fins

      • 3.3.1 Mechanical design of folding fins

      • 3.3.2 Dynamic model fish robot with folding fins

      • 3.3.3 Motion control of the folding pectoral fins

  • CHAPTER 4 EXPERIMENTS

    • 4.1 Experimental works concerning the fish robot with the non-uniform pectoral fins

      • 4.1.1 Experimental measurement of robot motion

      • 4.1.2 Estimation of natural frequencies and mode shape functions of non-uniform fins

      • 4.1.3 Estimation of the internal damping of flexible non-uniform fins

      • 4.1.4 Measurement of thrust coefficient

      • 4.1.5 Other dynamic coefficients of the robot with non-uniform fins

    • 4.2 Experimental setup and the parameters determination of the fish robot with folding fin

      • 4.2.1 Experimental setup of the motion measurement of the robotic fish

      • 4.2.2 Estimation of stiffness and damping coefficients of flexible joint

      • 4.2.3 Determination of stroke ratio and amplitude ratio of stimulating moment

      • 4.2.4 Determination of other coefficients

  • CHAPTER 5 RESULTS AND DISCUSSION

    • 5.1 Performance of fish robot with uniform pectoral fin

    • 5.2 Performance of fish robot with non-uniform fins

    • 5.3 Performance of fish robot with folding pectoral fins

      • 5.3.1 Influence of the fin joint flexibility on the swimming behavior of the robot

      • 5.3.2 Swimming performance of the robot in the transient state

      • 5.3.3 Swimming performance of the robot in the steady-state

      • 5.3.4 Expenditure power, cost of transport, propulsive efficiency and Strouhal number

  • CHAPTER 6 CONCLUSION

    • 6.1 Dissertation contributions

    • 6.2 Future works

  • LIST OF PUBLICATIONS

  • REFERENCES

  • APPENDIX A

  • APPENDIX B

  • APPENDIX C

  • APPENDIX D

  • APPENDIX E

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