Abstract
This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.
TopBackground
In this section, several fish robots are briefly reviewed according to a classification of swimming mechanism of fishes. For more detailed discussions, see Ikeda et al. (2013a).
Key Terms in this Chapter
Fish-Robot: A robot that mimicked a fish for obtaining locomotion ability underwater.
Rajiform: A kind of propulsive motion of fish included in MPF, especially seen in flat body fishes. The Propulsive force is generated by vertical undulations along large, well developed pectoral fins.
Manta: A large fish that lives in tropical seas and is a kind of ray. They swim by moving two pectoral fins like large flat wings.
Fin-Ray: One of the bony or cartilaginous spines supporting the membrane of a fin of a fish.
Pectoral-Fin: A kind of the fin of a fish that is related to or connected with the chest or breast.
MPF: A kind of propulsive motion of fish using mainly median and paired fins.
AUV: Some vehicle for under water exploration is called an autonomous underwater vehicle (AUV).