| Actuation of a robotic fish caudal fin for low reaction torque. | |
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MedLine Citation:
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PMID: 21806234 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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In this paper, a novel caudal fin for actuating a robotic fish is presented. The proposed caudal fin waves in a vertical direction with a specific spatial shape, which is determined by a so-called shape factor. For a specific shape factor, a traveling wave with a vertical phase difference is formed on a caudal fin during fin motion. It will be shown by the analysis that the maximum reaction torque at the joint of a caudal fin varies depending on the shape factors. Compared with a conventional plate type caudal fin, the proposed fin with a shape factor of 2π can eliminate the reaction torque perfectly, while keeping the propulsion force unchanged. The benefits of the proposed fin will be demonstrated by experiments. |
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Authors:
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Dongwon Yun; Kyung-Soo Kim; Soohyun Kim; Jinho Kyung; Sunghee Lee |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: The Review of scientific instruments Volume: 82 ISSN: 1089-7623 ISO Abbreviation: Rev Sci Instrum Publication Date: 2011 Jul |
Date Detail:
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Created Date: 2011-08-02 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 0405571 Medline TA: Rev Sci Instrum Country: United States |
Other Details:
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Languages: eng Pagination: 075114 Citation Subset: IM |
Affiliation:
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Department of Robotics and Intelligent Machinery, KIMM, Daejeon, 305-343, South KoreaDepartment of Mechanical Engineering, KAIST, Daejeon, 305-701, South Korea. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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