Mechanical actuator for biomimetic propulsion and the effect of the caudal fin elasticity on the swimming performance

Apalkov, Andrey and Fernández, Roemi and Fontaine, Jean-Guy and Akinfiev, Teodor and Armada Rodríguez, Manuel Ángel (2012). Mechanical actuator for biomimetic propulsion and the effect of the caudal fin elasticity on the swimming performance. "Sensors and Actuators A: Physical", v. 178 ; pp. 164-174. ISSN 0924-4247. https://doi.org/10.1016/j.sna.2012.01.022.

Description

Title: Mechanical actuator for biomimetic propulsion and the effect of the caudal fin elasticity on the swimming performance
Author/s:
  • Apalkov, Andrey
  • Fernández, Roemi
  • Fontaine, Jean-Guy
  • Akinfiev, Teodor
  • Armada Rodríguez, Manuel Ángel
Item Type: Article
Título de Revista/Publicación: Sensors and Actuators A: Physical
Date: May 2012
ISSN: 0924-4247
Volume: 178
Subjects:
Freetext Keywords: Mechanical drive; Caudal fin; Constant speed; Variable stiffness; Swimming devices
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents a mechanical actuator for the biomimetic propulsion of swimming devices and the experimental study of the effect of the caudal fin elasticity on the overall performance. The design of the proposed drive allows the DC motor to operate at constant speed, so all the power of the motor is spent only for the motion of the caudal fin. A prototype of the actuator, in which the caudal fin serves as a driving element, is manufactured and tested in both laboratory and natural conditions. The swimming speed, the thrust efficiency and the maneuverability are evaluated for caudal fins with different stiffness. The caudal fin whose rigidity varies relative to both vertical and horizontal cross-section, exhibits the best performance. The achieved results also confirm that the proposed actuator could be of great interest to applications in the field of underwater operation, ocean investigation and environmental protection.

More information

Item ID: 21302
DC Identifier: http://oa.upm.es/21302/
OAI Identifier: oai:oa.upm.es:21302
DOI: 10.1016/j.sna.2012.01.022
Official URL: http://www.sciencedirect.com/science/article/pii/S0924424712000465
Deposited by: Memoria Investigacion
Deposited on: 05 Nov 2013 17:48
Last Modified: 21 Apr 2016 11:28
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