DYNAMIC MODEL AND SIMULATION OF ONE ACTIVE JOINT ROBOTIC FISH

ZÜHTÜ HAKAN AKPOLAT¹ , Mustafa Can BİNGÖL² , MUSTAFA AY³ , GONCA ÖZMEN KOCA⁴ , CAFER BAL⁵ , DENIZ KORKMAZ⁶

This study considers the dynamic model of one active joint robotic fish by using Lagrange method and simulation of the robotic fish model in MATLAB/SimMechanics environment. Compared results of these two different models are given in the study. The mathematical model of the system is derived from Lagrange energy equations of the robotic fish inspired from a real carangiform fish. The Computer Aided Design (CAD) model of the robotic fish is designed by using SolidWorks and it is transferred to the SimMechanics environment. The hydrodynamic effects, which are linear and nonlinear drag force, are also adapted and head motion, one active joint, and one passive joint angles found by using MATLAB Simulink environment. Obtained results for joint angles from both dynamic and SimMechanics models are compared and proved with animation video of the robotic fish.

Keywords
Robotic Fish, Dynamic Model, SimMechanics Model, Mathematical Model,, Biomimetic Design,