Planar Multi-Link Swimmers: Experiments and Theoretical Investigation using 'Perfect Fluid' Model
| Autor: | Yizhar Or, Oren Wiezel, Alon Wolf, Evgenia Virozub |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference Computer science General Mathematics Work (physics) Fluid Dynamics (physics.flu-dyn) FOS: Physical sciences Perfect fluid Physics - Fluid Dynamics 02 engineering and technology Mechanics 01 natural sciences 010305 fluids & plasmas Computer Science Applications Numerical integration Momentum 020901 industrial engineering & automation Planar Control and Systems Engineering Drag 0103 physical sciences Underwater Software |
| Zdroj: | Robotica. 37:1289-1301 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574718001510 |
| Popis: | SummaryRobotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer’s hydrodynamics in order to optimize its structure and control inputs. In this work, we study a planar snake-like multi-link swimmer by using the “perfect fluid” model that accounts for inertial hydrodynamic forces while neglecting viscous drag effects. The swimmer’s dynamic equations of motion are formulated and reduced into a first-order system due to symmetries and conservation of generalized momentum variables. Focusing on oscillatory inputs of joint angles, we study optimal gaits for 3-link and 5-link swimmers via numerical integration. For the 3-link swimmer, we also provide a small-amplitude asymptotic solution which enables obtaining closed-form approximations for optimal gaits. The theoretical results are then corroborated by experiments and motion measurement of untethered robotic prototypes with three and five links floating in a water pool, showing a reasonable agreement between the experiments and the theoretical model. |
| Databáze: | OpenAIRE |
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