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

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Nội dung chi tiết: Dynamic analysis and motion control of a fish robot driven by pectoral fins

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

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins AL FINSDOCTOR OF PHILOSOPHY DISSERTATIONHO CHI MINH CITY - 2020VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMI

C ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY' PECTORAL FINSMajor: Mechanical EngineeringMajor code: 62520103Independent reviewer 1: Assoc. Dynamic analysis and motion control of a fish robot driven by pectoral fins

Prof. Dr. Nguyen Quoc Hung Independent reviewer 2: Assoc. Prof. Dr. Nguyen Truong ThinhReviewer 1: Assoc. Prof. Dr. Pham Huy TuanReviewer 2: Assoc. Pr

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

of. Dr. Nguyen Thanh PhuongReviewer 3: Assoc. Prof. Dr. Ngo Quang HieuADVISORS:1Assoc. Prof. Dr. Vo Tuong Quan2Assoc. Prof. Dr. Nguyen Tan TienCOMMITM

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins and under any form. The references to the documentary sources had been cited as prescribed.Dissertation authorSignaturePham Van Anh1ABSTRACTDemand for

a novel propulsion system, which is not only more efficient than the traditional impetus structure but also more friendly to the environment, is a re Dynamic analysis and motion control of a fish robot driven by pectoral fins

ason for study on robots thrust by fish-inspired fins. Meanwhile, pectoral fins of biological fish play a crucial role in locomotion mechanism, in par

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

ticular, only a small ratio of natural fish use the pectoral fins as the principal propelling component. Nevertheless, most of the rest ratio use thes

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins behaviors of fish while employing pectoral fins. On the other hand, the dynamics model of pectoral fins with flexibility and diversity of shape is a s

ignificant factor, which has not mentioned in previous work. In an attempt to generate a counterpart of biological fish, this dissertation recommends Dynamic analysis and motion control of a fish robot driven by pectoral fins

several novel approaches in designing, analyzing, and establishing the mathematical model for a fish-like robot with pectoral fins.Inspired by natural

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

fish fin. the dissertation concentrates on flexible structures that allow generating smooth motion, low energy expenditure, and efficient thrust. The

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins niform ones, and folding ones were investigated. First, the modeling issue of the robot with uniform fins was conducted. The fins were considered as c

antilever beams. An appended simplistic controller was then designed to track the referent trajectories of direction and surge velocity. Second, to im Dynamic analysis and motion control of a fish robot driven by pectoral fins

itate the biological fish fin. the shape of snakehead fish was adopted. Its mathematical model was established with the assistant of the Rayleigh-Ritz

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

method in deflection modeling. Finally, to improve the fish robot's swimming speed as well as energy consumption efficiency, artificial folding pecto

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins is established on the base of body rigid dynamics and Morison's force. Wherein the fluid influences on the fin movements are described as separated el

ements of added mass and damping. For two last fin types, the Lagrange approach was applied to build dynamic equations of motion. Moreover, experiment Dynamic analysis and motion control of a fish robot driven by pectoral fins

al works are carried out to validate and evaluate the recommended models. The achievediiresults confirmed that the proposals are feasible and able to

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

predict the behavior of the robot relatively well. Remarkably, the robotic fish with folding pectoral fins can attain faster movement speed and better

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins /s ) and a turning radius of 0.63 BL (0.25m) in correspondence to forward swimming motion and turning motion. Furthermore, the peak of velocity perfor

mance obtains 0.78 BL/s (0.308 m/s). On the other hand, it is revealed that the folding pectoral fins with reasonably flexible joints provide better s Dynamic analysis and motion control of a fish robot driven by pectoral fins

peed performance than the high stiffness ones.As an obtained achievement, the outcome of the dissertation can be promoted to design practical control

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

algorithms, which track following the desired trajectory or interact with the surrounding environment. Furthermore, it can be expanded on the optimiza

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA

Dynamic analysis and motion control of a fish robot driven by pectoral fins complex dynamic model of three-dimensional motion.iiiTÓM TẤT

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITYUNIVERSITY OF TECHNOLOGYPHAM VAN ANHDYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORA