Design, fabrication and thrust drag analysis of improved fish robots actuated by piezoceramic composite actuators

Design, Fabrication and Thrust/Drag Analysis of Improved Fish Robots Actuated by Piezoceramic Composite Actuators Nguyen, Quang Sang Thesis of the Doctor of Philosophy Department of A

Design, Fabrication and Thrust/Drag Analysis of Improved Fish Robots Actuated

by Piezoceramic Composite Actuators

Nguyen, Quang Sang

Thesis of the Doctor of Philosophy Department of Advanced Technology Fusion

Graduate School of Konkuk University

Design, Fabrication and Thrust/Drag Analysis of Improved Fish Robots Actuated

by Piezoceramic Composite Actuators

Nguyen, Quang Sang

Thesis of the Doctor of Philosophy Department of Advanced Technology Fusion

Graduate School of Konkuk University

Design, Fabrication and Thrust/Drag Analysis of Improved Fish Robots Actuated

by Piezoceramic Composite Actuators

Nguyen, Quang Sang

A Dissertation Submitted to the Department of Advanced Technology Fusion

and the Graduate School of Konkuk University

in partial fulfillment of the requirements for the degree of Doctor of Philosophy

August 2010

Approved by

Park, Hoon Cheol

Major Advisor

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Table of Content

List of Figures v

List of Tables ix

ABSTRACT x

1 Introduction 1

1.1 Understanding fish swimming 1

1.1.1 Reynolds number 5

1.1.2 Froude number: 6

1.1.3 Strouhal number 6

1.2 Overview of research on fish 7

1.3 Overview of research on fish robot driven by electromagnetic motor 8

1.4 Overview of fish robot driven by smart material 14

1.5 Objective and approach 21

2 A fish robot driven by piezoceramic actuators 24

2.1 Description of the fish robot 24

2.1.1 Actuator 25

2.1.2 Linkage design 26

2.1.3 External power supply 27

2.1.4 Miniaturized power supply 31

2.2 Swimming test 33

2.2.1 Linkage analysis 33

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2.2.2 Thrust measurement 36

2.2.3 Wired-swimming test 38

2.2.4 Free-swimming test 38

2.3 Experimental result 39

2.3.1 Tail-beat angle 39

2.3.2 Thrust 40

2.3.3 Swimming speed 41

2.4 Summary 43

3 An improved fish robot driven by piezoceramic actuators 44

3.1 Design and fabrication of the actuation system 44

3.1.1 Actuator 44

3.1.2 Design and working principle of the linkage system 46

3.1.3 Linkage analysis 48

3.1.4 Fabrication of the actuation system 51

3.2 Fish robot configuration 52

3.2.1 Tail fin of the fish robot 52

3.2.2 Description of the improved fish robot 53

3.3 Evaluation of the improved fish robot 53

3.3.1 Tail-beat angle of the fish robot in water 54

3.3.2 Swimming test of the fish robot 55

3.3.3 Thrust of the fish robot 58

3.3.4 Thrust coefficient 62

3.3.5 Turning swimming radius of the fish robot 63

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3.4 Parameter study 68

3.4.1 Reynolds number 68

3.4.2 Froude number 68

3.4.3 Strouhal number 70

3.5 Summary 70

4 Thrust improvement by using Compressed LIPCAs 71

4.1 Fish robot 71

4.1.1 Actuator 71

4.1.2 Actuation mechanism 72

4.1.3 Fish body 72

4.2 Experiment 73

4.2.1 Swimming experiment 73

4.2.2 Thrust Measurement 77

4.2.3 Drag Estimation 77

4.3 Result 79

4.3.1 Swimming speed 79

4.3.2 Thrust of the Fish Robot 80

4.3.3 Drag of the Fish Robot 80

4.3.4 Drag coefficient 85

4.4 Summary 86

5 CFD simulation 87

5.1 Simulation model 87

5.2 Model validation 90

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5.3 Results and discussions 92

6 Concluding remarks and recommendations future work 100

6.1 Concluding remarks 100

6.2 Academic contribution 102

6.3 Recommendation for future work 103

REFERENCE 104

APPENDIX 107

요약문 요약문 108

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List of Figures

Figure 1-1: Fish configuration [2] 3

Figure 1-2: Swimming mode associated with (a) BCF propulsion and (b) MPF propulsion [3] 3

Figure 1-3: Diagram showing the relation between swimming propulsors and swimming functions [4] 4

Figure 1-4: (a) The forces acting on a swimming fish; (b) Pitch, yaw, and roll definitions [5] 4

Figure 1-5: Typical velocity of the largest possible variety of swimmers as a function of the Reynolds number [1] 6

Figure 1-6: Flow visualization of velocity field in the x-y planes [13] 10

Figure 1-7: Viscous flow around a swimming fish: (a) mesh around the fish model; (b) detail of a cut through the mesh [14] 10

Figure 1-8: Schematic view of the eight internal links of the MIT’s Robot Tuna mechanism [18] 11

Figure 1-9: Draper Lab’s hydraulic-actuated Vorticity Control Unmanned Undersea Vehicle’s configuration [19] 11

Figure 1-10: RoboPike [20] 12

Figure 1-11: Design of Boxybot fish robot [21] 12

Figure 1-12: Prototype of the experimental robot fish [22] 13

Figure 1-13: Apparatus of pectoral fin motion [23] 13

Figure 1-14: Pressure sensor and its location on the fish body [24] 15

Figure 1-15: Drag measurement apparatus [25] 15

Figure 1-16: Geometry and position of neutral axis of LIPCA [28] 17

Figure 1-17: An IPMC strip under a low voltage [29] 17

Figure 1-18: Large actuation displacement and actuation force of SMA with low responsiveness [31] 18

Figure 1-19: Lamprey robot actuated by SMA [32] 18

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Figure 1-20: Two type robots driven by IPMC [33] 19

Figure 1-21: The tadpole robot: (a) configuration of the microrobot; (b) miniaturized of the battery, electrode and embedded controller located inside the body [34] 19

Figure 1-22: The floating boat driven by THUNDER [35] 20

Figure 1-23: Fish robot actuated by two LIPCA: (a) Configuration of the fish robot; (b) Linkage system 20

Figure 2-1: Assembly of the fish 25

Figure 2-2: Geometry and position of layers in a LIPCA 25

Figure 2-3: Linkage system of the fish robot 27

Figure 2-4: Function generator (Agilent 33220A) 29

Figure 2-5: Voltage amplifier (MATSUSADA model AML-1.5B40-LC) 29

Figure 2-6: Oscilloscope (Tektroniks TDS 2024) 29

Figure 2-7: The schematic of the MIPAD 30

Figure 2-8: Hardware implementation of the MIPAD 32

Figure 2-9: MIPAD response to square wave command 32

Figure 2-10: Tail-beat angle analysis by vector calculus 34

Figure 2-11: Tail-beat angle measurement apparatus 35

Figure 2-12: Load cell (Nano 17 Transducer) 36

Figure 2-13: The apparatus of the thrust measurement 37

Figure 2-14: Schematic diagram of the wired-swimming test 37

Figure 2-15: Fish robot in the free-swimming test 38

Figure 2-16: Tail-beat angle by vector calculus 40

Figure 2-17: Tail-beat angle of the fish robot in water 40

Figure 2-18: The average thrust of the fish robot 42

Figure 3-1: Fabricated LIPCA 45

Figure 3-2: Design of the actuation mechanism 45

Figure 3-3: Working principle of the actuation mechanism 47

Figure 3-4: Configuration of linkage system 49