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Actuation of a robotic fish caudal fin for low reaction torque

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5 Author(s)
Dongwon Yun ; Department of Robotics and Intelligent Machinery, KIMM, Daejeon, 305-343, South Korea ; Kyung-soo Kim ; Soohyun Kim ; Jinho Kyung
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In this paper, a novel caudal fin for actuating a robotic fish is presented. The proposed caudal fin waves in a vertical direction with a specific spatial shape, which is determined by a so-called shape factor. For a specific shape factor, a traveling wave with a vertical phase difference is formed on a caudal fin during fin motion. It will be shown by the analysis that the maximum reaction torque at the joint of a caudal fin varies depending on the shape factors. Compared with a conventional plate type caudal fin, the proposed fin with a shape factor of 2π can eliminate the reaction torque perfectly, while keeping the propulsion force unchanged. The benefits of the proposed fin will be demonstrated by experiments.

Published in:

Review of Scientific Instruments  (Volume:82 ,  Issue: 7 )

Date of Publication:

Jul 2011

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