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Article Details

  • Article Code : FIRAT-AKADEMI-8581-4035
  • Article Type : Araştırma Makalesi
  • Publication Number : 1A0370
  • Page Number : 29-39
  • Doi : 10.12739/NWSA.2017.12.1.1A0370
  • Abstract Reading : 582
  • Download : 113
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Issue Details

  • Year : 2017
  • Volume : 12
  • Issue : 1
  • Number of Articles Published : 8
  • Published Date : 1.01.2017

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Engineering Sciences

Serial Number : 1A
ISSN No. : 1308-7231
Release Interval (in a Year) : 4 Issues

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,

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Authors

ZÜHTÜ HAKAN AKPOLAT (1)

z.h.akpolat@gmail.com | 0000-0002-7935-7031

Mustafa Can BİNGÖL (2) (Corresponding Author)

Fırat Üniversitesi
mustafacanbingol@gmail.com | 0000-0001-5448-8281

MUSTAFA AY (3)

mustafaay23@hotmail.com | 0000-0002-9056-9975

GONCA ÖZMEN KOCA (4)

gonca.ozmen@gmail.com | 0000-0002-4752-9775

CAFER BAL (5)

caferbal@gmail.com | 0000-0001-5229-6016

DENIZ KORKMAZ (6)

denizkorkmaz17@gmail.com | 0000-0000-0000-0042

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References
[1] Liu, T.J. and Hu H., (2010). Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish, Journal of Bionic Engineering, Volume:7.