Analysis and kinematical and dynamical optimization of propulsion system of The Tuna fish robot through genetic algorithm and Strouhal number

Publish Year: 1395
نوع سند: مقاله کنفرانسی
زبان: English
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NSMI18_151

تاریخ نمایه سازی: 6 اسفند 1395

Abstract:

In this paper the Tuna fish robot that inspired by nature based on the Carangiform model is studied. The kinematical and dynamical optimizations are presented. In the kinematical optimization, propulsion mechanisms, the numbers of the active degrees of freedom, rigidity of the tail and link length ratio are optimized. To optimize links, genetic algorithm is used. In the dynamical optimization, due to the limitations of multiple tests, the theory of Mr. Lighthill is used. This theory is validated by experimental testing. Next, the impact of the Strouhal number on the efficiency is studied. Finally two approaches are presented which can increase the efficiency.

Authors

Mohamad Hosein Salimi

M.S Student, Tehran University

Mostafa Karimian

Graduated Student, Tehran University;