Modeling, simulation, and development of a robotic dolphin prototype

摘要

Abilities of sea animals and efficiency of fish swimming are a few of the impressive solutions of nature. In this paper, design, modeling, simulation and development studies of a robotic dolphin prototype, entirely inspired by the bottlenose dolphin (Tursiops truncatus), are presented. The first section focuses on the design principles and core design features of the prototype. In the second section, modeling and simulation studies which consist of hydrodynamics, kinematics and dynamical analysis of the robotic dolphin are presented. Dynamical simulations of the underwater behavior of the prototype are included in this section. The third section focuses on the general prototype development from mechanical construction to control system structure. Finally in the last section, experimental results obtained through the development of the prototype are discussed.