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Hydrodynamic Modeling and Parameter Identification of a Bionic Underwater Vehicle: RobDact
Qiyuan Cao1,2, Rui Wang1, Tiandong Zhang1,2
1State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
Cyborg and Bionic Systems (Washington, D.C.)
|October 26, 2022
Summary
This study models the RobDact, a bionic underwater vehicle, using CFD and experiments. It details the vehicle
Area of Science:
- Robotics and Fluid Dynamics
- Bionic Underwater Vehicle Design
Background:
- Underwater vehicles require accurate hydrodynamic models for effective control and navigation.
- Bionic designs offer novel approaches to propulsion and maneuverability in aquatic environments.
Purpose of the Study:
- To develop a comprehensive hydrodynamic model for the RobDact, a Dactylopteridae-inspired bionic underwater vehicle.
- To identify key hydrodynamic parameters through computational fluid dynamics (CFD) and experimental force measurements.
Main Methods:
- Establishment of kinematics and rigid body dynamics models for the RobDact.
- Utilizing computational fluid dynamics (CFD) simulations to determine hydrodynamic forces at various speeds.
- Development of a force measurement platform to correlate RobDact thrust with input parameters.
Main Results:
- Identification of hydrodynamic model parameters based on CFD simulations.
- Quantification of the relationship between RobDact's fin thrust and control inputs.
- Construction of a dynamic hydrodynamic model integrating rigid body dynamics and fin thrust mapping.
Conclusions:
- The study successfully constructed a hydrodynamic model for the RobDact bionic vehicle.
- The integrated approach combining CFD and experimental data provides a robust model for vehicle dynamics.
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