Modal analysis of a robotic fish with rotary-to-swing mechanism and flexible tensegrity joints

Xiaowen Zhu; Yihang Wang; Jingfeng He; Hongzhou Jiang; Zhizhong Tong

doi:10.1117/12.3014751

4 March 2024 Modal analysis of a robotic fish with rotary-to-swing mechanism and flexible tensegrity joints

Xiaowen Zhu, Yihang Wang, Jingfeng He, Hongzhou Jiang, Zhizhong Tong

Proceedings Volume 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023); 129813B (2024) https://doi.org/10.1117/12.3014751
Event: 9th International Symposium on Sensors, Mechatronics, and Automation (ISSMAS 2023), 2023, Nanjing, China

Abstract

In this paper, we represent a robotic fish with rotary-to-swing mechanism and flexible tensegrity joints and its modal analysis method. The modal analysis method comprises two parts: stiffness analysis and derivation of the mass matrix. We simplify the robotic fish into a five-link mechanism which is a serial connection of a closed chain four-link mechanism with tail fin to make its modes analyzable. Based on this, we first analyze the stiffness matrix though the elastic potential energy and then obtain the mass matrix of the simplified mechanism considering hydrodynamic effects. Finally, the first-order modal analysis results in two cases which are both a C-shape at natural frequency are shown.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiaowen Zhu, Yihang Wang, Jingfeng He, Hongzhou Jiang, and Zhizhong Tong "Modal analysis of a robotic fish with rotary-to-swing mechanism and flexible tensegrity joints", Proc. SPIE 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023), 129813B (4 March 2024); https://doi.org/10.1117/12.3014751

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