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
Iliya V. Mitin
Immanuel Kant Baltic Federal University (IKBFU), Research Scientist, 14, ul. A. Nevskogo, Kaliningrad, 236016, Russia; Lobachevsky State University of Nizhny Novgorod (Lobachevsky University), Engineer, 23, Gagarina pr., Nizhny Novgorod, 603022, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3278-9873
Roman A. Korotaev
IKBFU, Research Scientist, 14, ul. A. Nevskogo, Kaliningrad, 236016, Russia; Lobachevsky University, Engineer, 23, Gagarina pr., Nizhny Novgorod, 603022, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., RecearcherID: HGD-3944-2022, ORCID: 0000-0001-7508-3590
Vasily I. Mironov
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., RecearcherID: HNI-6384-2023, ORCID: 0000-0003-3832-314X
Victor B. Kazantsev
RTC, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia; IKBFU, Leading Research Scientist, 14, ul. A. Nevskogo, Kaliningrad, 236016, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., RecearcherID: L-1424-2013
Received June 17, 2022
Abstract
This article presents the results of experimental and computational modeling of the movement of a fish-like underwater robot. The experimental 3D model is constructed from photographs of Pacific bluefin tuna. This model allows us to study biomorphic swimming with various motion parameters, namely: the amplitude and frequency of strokes is set by the servo control signal, the angle between the tail fin and the elastic plate is set by the number and stiffness of springs in the hinge. The calculation method involves the joint solution of the equations of dynamics of the robot and the equations of hydrodynamics of the fluid flowing around it. For this task, an original mesh deformation algorithm was developed that allows hydrodynamic calculations to be performed near the tail of the model performing transverse oscillations. The use of deformable mesh technology allows you to reproduce the shape of the tail vibrations as accurately as possible. In addition, the calculation scheme has the property of conservativeness, which makes it possible to obtain high quality calculations, confirmed by comparison with experimental data.
Key words
Tuna like robot, fluid body interaction, conjugated calculation, deforming mesh, computational fluid dynamic (CFD).
Acknowledgement
This work was supported by the Russian Science Foundation under project 21-12-00246.
DOI
10.31776/RTCJ.11105
Bibliographic description
Tschur, N.A. et al. (2023). Experimental study and numerical simulation of hydrodynamics for fish-like underwater vehicle. Robotics and Technical Cybernetics, 11(1), pp.40-44.
UDC identifier:
532.5:007.52:629.58
References
