Physics

Added mass

Geology

Aerospace engineering

Mechanics

Oceanography

Engineering

Rigid body

Artificial intelligence

Vibration

Computational fluid dynamics

Acoustics

Moment (physics)

Control (management)

Computer science

Thrust

Kinematics

Control theory (sociology)

Classical mechanics

Underwater

Cyborg and Bionic Systems

In this paper, the hydrodynamic modeling and parameter identification of the RobDact, a bionic underwater vehicle inspired by Dactylopteridae, are carried out based on computational fluid dynamics (CFD) and force measurement experiment. Firstly, the paper briefly describes the RobDact, then establishes the kinematics model and rigid body dynamics model of the RobDact according to the hydrodynamic force and moment equations. Through CFD simulations, the hydrodynamic force of the RobDact at different speeds is obtained, and then, the hydrodynamic model parameters are identified. Furthermore, the measurement platform is developed to obtain the relationship between the thrust generated by the RobDact and the input fluctuation parameters. Finally, by combining the rigid body dynamics model and the fin thrust mapping model, the hydrodynamic model of the RobDact at different motion states is constructed.

Hydrodynamic Modeling and Parameter Identification of a Bionic Underwater Vehicle: RobDact