Features of the design and control of an underwater biomorphic robot of the tunniform type

Features of the design and control of an underwater biomorphic robot of the tunniform type

Iliya V. Mitin
Immanuel Kant Baltic Federal University (IKBFU), Research Scientist, 14, ul. A. Nevskogo, Kaliningrad, 236016, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3278-9873

Sergey A. Lobov
Doctor of Physical and Mathematical Sciences, IKBFU, Senior Research Scientist, 14, ul. A. Nevskogo, Kaliningrad, 236016, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3689-6035

Nikolay A. Tschur
PhD in Physics and Mathematics, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Mathematician, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., RecearcherID: AAH-8421-2019

Alexander V. Popov
PhD in Technical Sciences, RTC, Deputy Director for Science, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-6484-4411

Victor B. Kazantsev
IKBFU, Leading Research Scientist, 14, ul. A. Nevskogo, Kaliningrad, 236016, Russia; RTC, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia; This email address is being protected from spambots. You need JavaScript enabled to view it., RecearcherID: L-1424-2013

Received October 24, 2023

Abstract
The article describes the design and main dynamic characteristics of an underwater vehicle of the biomorphic (fish-like) type, which implements the tunniform type of locomotion for movement under water. The body of the device is made on the basis of a digital model of the body of yellowfin tuna. The movement is provided by a driving device that simulates the operation of the tail fin of a fish. The robot's navigation on the surface and with a dive to a shallow depth is controlled by a remote control system, which allows you to change the dynamic characteristics (amplitude and frequency) of tail vibrations. In the experimental study, the dependencies of the speed of movement and energy consumption of the robot depending on these characteristics were obtained. In the theoretical study, a computational model of the robot was obtained based on the solution of hydrodynamic equations. In computer modeling of swimming using the method of deformable nets, a good correspondence with experimental data was obtained. In addition, the hydrodynamic characteristics of the flow during the movement of the robot were investigated, as well as various features of the vibrations of the elements of the robot body when moving in a liquid were explained.

Key words
Robotic fish, biomorphic system, thunniform locomotion, fish swimming, actuator, autonomous underwater vehicles.

Acknowledgements
Mathematical modeling was carried out with the support of the state task of Russian Ministry of Education and Science «Investigation of ways to create and areas of possible application of biomorphic underwater robots» (FNRG-2022-0013 1021060307689-7-1.2.1;2.2.2 № 075-01595-23-00).

DOI
0.31776/RTCJ.12109

Bibliographic description
Mitin, I.V. et al. (2024), "Features of the design and control of an underwater biomorphic robot of the tunniform type", Robotics and Technical Cybernetics, vol. 12, no. 1, pp. 71-80, DOI: 10.31776/RTCJ.12109. (in Russian).

UDC identifier
532.5:007.52:629.58

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