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1、IEEE/ASMETRANSACTIONSONMECHATRONICS,VOL.18,NO.3,JUNE20131027QuantitativeThrustEfficiencyofaSelf-PropulsiveRoboticFish:ExperimentalMethodandHydrodynamicInvestigationLiWen,TianmiaoWang,GuanhaoWu,andJianhongLiangAbstractTheroboticfishthatutilizethebody/caudalfinundu-roboticfishwithhighlyeffici
2、entpropulsion.Avarietyoflatorylocomotionhaslonginterestedbothbiologistsandengineers.free-swimmingdeviceshavealreadybeendevelopedbasedAlthoughavarietyoffreeswimmingroboticfishprototypeshaveonthesediscoveries[2]–[8].Mostworksoftheexistingalreadybeendeveloped,veryfewstudiesaddressedthemeth
3、odsresearchonthrustefficiencyhavebeenconductedthroughfordeterminingquantitativethrustefficiency.Inthispaper,weproposeanovelexperimentalmethodthatenablesthesimultane-computation,whichcanbebroadlyclassifiedintoanalyticalousmeasurementofthepower,wakeflowfield,andself-propulsivepredictions[9]an
4、dcomputationalfluiddynamics(CFD)speedofaroboticfish,whichtogetherfacilitateaquantitativeanalyses[10].However,untilrecentlytheseresultslackedmeasurementofitsefficiency.Ourresultsshowthattheoptimalexperimentalvalidation.Theexistingexperimentalstudiesthrustefficiencyoftheroboticswimmeriswithi
5、ntheStrouhalexaminingthethrustefficiencyoffish-likelocomotionwerenumber(St)rangeof0.3≤St≤0.325whensingle-rowreverseKarmanvorticesareproduced.Nevertheless,presentroboticfishconductedusingflappingfoils[11],[12].Nevertheless,theswamatStrouhalnumbersoutsidetheoptimalregionunderself-isolatedper
6、formanceofaflappingfoilcannotfullyrepresentapropulsivecondition,andproducedanothertypeofwakestruc-swimmingfish’s,especiallythebody/caudalfin(BCF)kineticture:double-rowvortices.Wealsoshowthatroboticfishthatpatternthatcharacterizesapproximately88%ofextantfishutilizealowamplitudewithalargeflapp
7、ingfrequencyproducefamilies[13].Membersofthesefamiliesarealsowidelyusedhigherself-propulsivespeeds,whereasalargeramplitudepairedwithlowerfrequencyresultsinhigherefficiency.Additionally,aaslivecounterpartsforbiomimeticunderwatervehicles[14].peakefficiencyvalueof31.6%isrecoredfortheself-
