Design of a Labriform-Steering Underwater Robot Using a Multiphysics Simulation Environment
Abstract
:1. Introduction
2. Materials and Methods
2.1. Mechanics of Drag-Based Labriform Swimming and Blade-Element Theory
- Drag force is due to pressure drag only, whereas the effects of viscosity are negligible.
- During the power stroke, the distal two-thirds of the fin are perpendicular to the horizontal plane.
- The rowing rotation around the fish yaw axis is about 90 degrees.
- At the end of the power stroke, as the fin moves forward, its distal two-thirds form a small angle with the horizontal plane (about 10–20 degrees).
- The power stroke is about three times faster than the recovery stroke.
- A blade-element approach is used to analyze pectoral fin mechanics in drag-based labriform swimming.
2.2. Functional Design of the Transmission System
- Phase 1—the power stroke, Figure 4a: the pitching rotation is blocked, and the fin is kept perpendicular to the horizontal plane, while it spins about the yaw axis at high angular velocity.
- Phase 2—feathering recovery stroke, Figure 4b: the fin turns around its pitch axis until it is flat on the horizontal plane; at the same time, it rotates slowly about the fish yaw axis in the opposite direction with respect to the power stroke.
- Phase 3—main recovery stroke, Figure 4c: the rotation about the pitch axis is blocked and the fin is kept parallel the horizontal plane, while it continues to move slowly in the reverse direction with respect to the power stroke.
- Phase 4—unfeathering recovery stroke, Figure 4d: the fin turns about its pitch axis until it is perpendicular to the horizontal plane; at the same time, the fin slows down along the last part of the rotation about the yaw axis, preparing for the upcoming power stroke.
3. Results
3.1. Preliminary Analysis of the Transmission Mechanism
3.2. Multibody Analysis
3.3. Mechanism Prototyping and Mechatronic Components
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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- | Power Stroke | Recovery Stroke | ||
---|---|---|---|---|
Time | Time 1 | Time 2 | Time 3 | Time 4 |
Yaw rotation | Driven—fast | Driven—slow | Driven—slow | Driven—slow |
Yaw angle γ 1 | 45° -> 135° | 135° -> 108.5° | 108.5° -> 71.5° | 71.5° -> 45° |
Pitch rotation | Blocked | Driven | Blocked | Driven |
Pitch angle φ | Trimmed at 90° | 90° -> 0° | Trimmed at 0° | 0° -> 90° |
0.5 | [0.8–1.2] |
Motor Frequency | Swimming Speed | |||
---|---|---|---|---|
0.125 BL/s | 0.25 BL/s | 0.50 BL/s | 1 BL/s | |
0.5 Hz | 3.16 | 7.17 | 12.25 | 14.93 |
1 Hz | 1.46 | 3.15 | 7.15 | 12.17 |
1.5 Hz | 0.98 | 1.97 | 4.44 | 9.35 |
2 Hz | 0.75 | 1.45 | 3.13 | 7.09 |
3 Hz | 0.53 | 0.96 | 1.94 | 4.41 |
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Costa, D.; Scoccia, C.; Palpacelli, M.; Callegari, M.; Scaradozzi, D. Design of a Labriform-Steering Underwater Robot Using a Multiphysics Simulation Environment. Robotics 2022, 11, 11. https://doi.org/10.3390/robotics11010011
Costa D, Scoccia C, Palpacelli M, Callegari M, Scaradozzi D. Design of a Labriform-Steering Underwater Robot Using a Multiphysics Simulation Environment. Robotics. 2022; 11(1):11. https://doi.org/10.3390/robotics11010011
Chicago/Turabian StyleCosta, Daniele, Cecilia Scoccia, Matteo Palpacelli, Massimo Callegari, and David Scaradozzi. 2022. "Design of a Labriform-Steering Underwater Robot Using a Multiphysics Simulation Environment" Robotics 11, no. 1: 11. https://doi.org/10.3390/robotics11010011
APA StyleCosta, D., Scoccia, C., Palpacelli, M., Callegari, M., & Scaradozzi, D. (2022). Design of a Labriform-Steering Underwater Robot Using a Multiphysics Simulation Environment. Robotics, 11(1), 11. https://doi.org/10.3390/robotics11010011