Dynamic tail modeling and motion analysis of a beaver-like robot

Dynamic tail modeling and motion analysis of a beaver-like robot

March 21st, 2024 | Gang Chen, Yidong Xu, Zhenyu Wang, Jiajun Tu, Huosheng Hu, Chen Chen, Yuhang Xu, Xinxue Chai, Jingjing Zhang, Jianwei Shi
This paper presents a segmented dynamic modeling approach to analyze the tail dynamics of a beaver-like underwater robot. The tail, which plays a crucial role in propulsion and stability, is modeled using hydrodynamics and material mechanics. A motion performance index is introduced to evaluate the tail's propulsion efficiency and stability. The model is validated through CFD simulations and underwater experiments, demonstrating good consistency between theoretical, simulated, and experimental results. The optimal swing amplitude coefficient is found to be 2, and the optimal frequency is 2, providing a foundation for robot motion control. The study contributes to the development of dynamic modeling and analysis for other underwater biomimetic robots.This paper presents a segmented dynamic modeling approach to analyze the tail dynamics of a beaver-like underwater robot. The tail, which plays a crucial role in propulsion and stability, is modeled using hydrodynamics and material mechanics. A motion performance index is introduced to evaluate the tail's propulsion efficiency and stability. The model is validated through CFD simulations and underwater experiments, demonstrating good consistency between theoretical, simulated, and experimental results. The optimal swing amplitude coefficient is found to be 2, and the optimal frequency is 2, providing a foundation for robot motion control. The study contributes to the development of dynamic modeling and analysis for other underwater biomimetic robots.
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[slides and audio] Dynamic tail modeling and motion analysis of a beaver-like robot