Simulation Study of Fish Swimming Modes for Aquatic Robot System
Abstract
In this paper, we show the simulation result to find the suitablefish swimming modes(specially BCF swimming) for fishlikeunderwater robot system. To find the suitable swimming modes, weassume that they have the same length, volume, and weight, but thedifferent numbers of actuator(joint). And we use the minimumnumber of the joint for each swimming mode. We derive the dynamicequation for each system using Kane's method and these results arecompared by DADS. We present the optimal solution of swimming modefor some aquatic locomotion, especially faster(high propulsiveefficiency) and more maneuverable(quick turning motion).
