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Hydrodynamic Modeling of the Tail of a Thunniform Robofish

Karimzadeh, Mahdi | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48551 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza; Seif, Mohammad Saeed; Firoozabadi, Bahar
  7. Abstract:
  8. Underwater robots are broadly used in oceanography to explore ocean environments,inside inspection of pipes, and also to provide security at maritime boundaries. To design an underwater autonomous robot, it is compulsive to take advantage of a high efficient propulsion mechanism to lengthen the tour time span. Since fish-like propulsion mechanisms have presented higher efficiency comparing other mechanisms, they have been paid a lot of attention.In the present research, the hydrodynamic of a thunniform fish robot is analyzed under some reasonable simplifications. Based on the results achieved from this study, closed expressions are developed to predict the steady mean velocity and the propulsive force at each set of tail sweeping parameters. These expressions are to be used to develop a controller for the robot in the future works. The robot is analyzed both numerically and experimentally. To simulate the tail movement of the robot, ANSYS-CFX R.13 has been utilized and the thrust and the velocity of the robot are extracted. The simulation takes in consideration the interaction between the dynamic of the robot and the hydrodynamic characteristics of the fluid flow around the robot.On the other hand, a thunniform robot has been designed and fabricated in the laboratory of mechatronics of Sharif University of Technology. This fish robot is equipped with a load-cell to measure the propulsive forces exerting to the robot cause of its tail movements. The numerical results are also verified using the experimental data
  9. Keywords:
  10. Hydrodynamics ; Computer Modeling ; Robofish Fabrication ; Fish Robot ; Fish Locomotion ; Thrust ; Moving Mesh ; Thunniform

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