Tail-Actuator Propulsion Device for Aquatic Robot

摘要

In this paper an aquatic device inspired to the fish propulsion is proposed. At the first, the operating principle of the fluidic actuator and its experimental characterization are presented. Then, the results of numerous tests carried out on the integrated tail-actuator device are shown either in terms of thrust exerted or as biomorphism of its kinematics. The tests were run at several driven frequencies with different fins depending on their geometrical dimensions and compliances. On the other hand, a simplified mathematical model of the propulsion system, based on the calculation of the instantaneous tail kinematics and dynamics by means of a numerical procedure, is proposed with the aim of simulating performances either in terms of thrust exerted or kinematics behavior. Finally a discussion about the results obtained and a comparison between experimental and numerical data are presented.