DYNAMIC MODEL AND SIMULATION OF ONE ACTIVE JOINT ROBOTIC FISH

Year 2017, Volume: 12 Issue: 1, 29 - 39, 15.01.2017

Zuhtu Hakan Akpolat Mustafa Can Bingöl , Mustafa Ay , Gonca Özmen Koca , Cafer Bal , Deniz Korkmaz

Abstract

This
study considers the dynamic model of one active joint robotic fish by using
Lagrange method and simulation of the robotic fish model in MATLAB/SimMechanics
environment. Compared results of these two different models are given in the
study. The mathematical model of the system is derived from Lagrange energy
equations of the robotic fish inspired from a real carangiform fish. The
Computer Aided Design (CAD) model of the robotic fish is designed by using
SolidWorks and it is transferred to the SimMechanics environment. The
hydrodynamic effects, which are linear and nonlinear drag force, are also
adapted and head motion, one active joint, and one passive joint angles found
by using MATLAB Simulink environment. Obtained results for joint angles from
both dynamic and SimMechanics models are compared and proved with animation
video of the robotic fish.

Keywords

Robotic Fish, Dynamic Model, SimMechanics Model, Mathematical Model, Biomimetic Design

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