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Propulsive Element Normal Force Based on Acceleration Measurements Experienced by a Subcarangiform Robotic Fish

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Abstract

The normal force exerted on a propulsive element is estimated based on acceleration measurements of an articulate-flexible propulsion mechanism in a subcarangiform swimming robotic fish. The propulsion mechanism is an articulating torso followed by a flexible caudal fin to provide thrust. The trunk is an assemblage of five ABS-plastic vertebrae driven by an actuator through a pair of wires, whereas the caudal fin is a silicone-rubber lunate-shaped tail coupled to the last vertebra. MEMS 3-axis sensors measured the linear acceleration experienced by the rigid head, articulated trunk, and compliant caudal fin at different undulation frequencies with the robotic fish prototype suspended in still water. The transverse acceleration measured was approximated as the reaction force exerted by the water on a propulsive element that accelerates the surrounding water. Subsequently, the caudal fin midline motion was analyzed by video processing to compare with the subcarangiform swimming kinematics model and to depict the normal force vectors in an undulation excursion. This study provides a feasible alternative to quantify the normal force generated by propulsive elements in bio-inspired propulsion mechanisms by using low-cost MEMS sensors to complement other well-suited techniques.

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Acknowledgments

Author thanks Jorge Cobos, Alfonso Alvarez, and Mario Pillado for their support in the robotic fish construction and experimental trials.

Code or Data Availability

All data and custom code support this study are available from the corresponding author, J. Gutiérrez, upon reasonable request.

Funding

The authors have no relevant financial neither non-financial interest to disclose.

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Authors and Affiliations

  1. Engineering Group, Centro de Investigaciones Biológicas del Noroeste, S.C., Av. Instituto Politécnico Nacional 195, Playa Palo de Santa Rita, 23096, La Paz, B.C.S., Mexico

    Fernando D. Von Borstel, J. Francisco Villa-Medina & Joaquín Gutiérrez

  2. Department of Mechatronics, Instituto Tecnológico de Los Mochis, 23641, Los Mochis, Mexico

    Martha S. Haro

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  1. Fernando D. Von Borstel
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  2. Martha S. Haro
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  3. J. Francisco Villa-Medina
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  4. Joaquín Gutiérrez
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Contributions

The research, experiment execution, writing, and writing – review were performed by F. D. Von Borstel. The prototype implementation and review were performed by M. S. Haro. The experiment execution, and review were performed by J. F. Villa-Medina. The research, formal analysis, and writing – review – editing were performed by J. Gutiérrez. All authors read and approved the final manuscript.

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Correspondence to Joaquín Gutiérrez.

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Von Borstel, F.D., Haro, M.S., Villa-Medina, J.F. et al. Propulsive Element Normal Force Based on Acceleration Measurements Experienced by a Subcarangiform Robotic Fish. J Intell Robot Syst 104, 73 (2022). https://doi.org/10.1007/s10846-022-01600-9

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  • DOI: https://doi.org/10.1007/s10846-022-01600-9

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