Star Fish2 Nus 021511

Study of Modular Undulating Fin Rays in Bio-inspired Robotic Fish.

Why Fins and not propellers? ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Piscine propulsion vs. Propellers ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Propeller Mechanism ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Hydrodynamics of Piscine Propulsion ,[object Object],[object Object],[object Object],Fig 1

Vortices / Strouhal Number ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Fish Swimming Modes ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

MPF Propulsion ,[object Object],Fig 2

Rajiform Mode ,[object Object],[object Object],Fig 3

Other Swimming Forms ,[object Object],[object Object],Fig 6 Fig 5

[object Object],[object Object],Fig 8 Fig 7

Mechanical Modeling of Undulating Fins ,[object Object],[object Object],Fig 9 (a)

Undulating Fin Mechanism Models- Robotic ribbon fin by the Northwestern University Fig 10

Squid-type underwater vehicle by the Osaka University Fig 11

Nanyang Knifefish (NKF-I) robot by the NTU Fig 12

Modeling of Fin Mechanism NTU ,[object Object],[object Object],Fig 13 Fig 14

Crank Slider Linkages ,[object Object],[object Object],[object Object],Fig 15

Kinematics Diagram ,[object Object],[object Object],Fig 16 Fig 17

Kinematics Modeling of Fin rays ,[object Object],[object Object],Fig 18

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],… (1)

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],… (2)

Discrete Model of Sinusoidal waveforms ,[object Object],[object Object],[object Object],[object Object],Fig 19

Waveform of Fin Rays generated by Servomotors and Inter-Connected Sliders ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Fig 20

Basic Layout for the Waveform ,[object Object],[object Object],[object Object],Fig 21

[object Object],[object Object],[object Object],… (3) … (4) … (5)

Joint Control Law to drive Servomotors ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],… (6) … (7)

[object Object],[object Object],[object Object],[object Object],[object Object],… (8) … (9)

[object Object],[object Object],[object Object],[object Object],[object Object],… (12) … (10) … (11)

Parametric Study of Workspace ,[object Object],[object Object],[object Object],Fig22

[object Object],[object Object],[object Object],Fig 23

Effect of Phase Difference β on fin waveforms ,[object Object],[object Object],[object Object],[object Object],Fig24(a)

Workspace and Waveform of the respective Fin segments ,[object Object],[object Object],[object Object],Fig24(d) Fig24(c) Fig24(b)

Effect of Amplitude on Fin Waveforms ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Fin sinusoidal waves vs Amplitudes ,[object Object],Fig26(a) Fig26(b) Fig26(c)

Effect of sliders length on Fin Waveforms ,[object Object],[object Object],[object Object],… 13 … 14 … 15

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],… 16

Workspace Area Ratio ,[object Object],[object Object],Fig 27

[object Object],[object Object],[object Object],Table 1

Specifications of NKF-II . ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Fully Assembled Nanyang Knifefish II (NKF-II) Fig 28 Fig 29 Nanyang Knifefish II Detailed View of crank’s dimension

Features ,[object Object],[object Object],[object Object],[object Object],[object Object]

Limitations /Improvements Requ ired ,[object Object],[object Object],[object Object],[object Object],Fig 29

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Exploring Research Areas ,[object Object],[object Object],[object Object],[object Object],[object Object]

[object Object],[object Object],[object Object]

Videos ,[object Object],[object Object],[object Object],[object Object]

References ,[object Object],[object Object],[object Object],[object Object]

Star Fish2 Nus 021511

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