Luận án tiến sĩ: Phân tích động lực học & điều khiển robot cá vây ngực - Phạm Văn Anh

VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY PHAM VAN ANH DYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORAL FINS DOCTOR OF PHILOSOPHY DISSERTATION HO CHI MINH CITY - 2020 VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY PHAM VAN ANH DYNAMIC ANALYSIS AND MOTION CONTROL OF A FISH ROBOT DRIVEN BY PECTORAL FINS Major: Mechanical Engineering Major code: 62520103 Independent reviewer 1: Assoc. Nguyen Quoc Hung Independent reviewer 2: Assoc. Nguyen Truong Thinh Reviewer 1: Assoc. Pham Huy Tuan Reviewer 2: Assoc.

Nguyen Thanh Phuong Reviewer 3: Assoc. Ngo Quang Hieu ADVISORS: 1. Vo Tuong Quan 2. Nguyen Tan Tien COMMITMENT I pledge that this is the own work of myself.

The research results and conclusions in this dissertation are honest and not copied from any sources and under any form. The references to the documentary sources had been cited as prescribed. Dissertation author Signature Pham Van Anh i ABSTRACT Demand for a novel propulsion system, which is not only more efficient than the traditional impetus structure but also more friendly to the environment, is a reason for study on robots thrust by fish-inspired fins. Meanwhile, pectoral fins of biological fish play a crucial role in locomotion mechanism, in particular, only a small ratio of natural fish use the pectoral fins as the principal propelling component.

Nevertheless, most of the rest ratio use these fins for maneuverability and stability of swimming movements. Accelerating, braking, stabling the position, and cruising in short distances are the behaviors of fish while employing pectoral fins. On the other hand, the dynamics model of pectoral fins with flexibility and diversity of shape is a significant factor, which has not mentioned in previous work. In an attempt to generate a counterpart of biological fish, this dissertation recommends several novel approaches in designing, analyzing, and establishing the mathematical model for a fish-like robot with pectoral fins.

Inspired by natural fish fin, the dissertation concentrates on flexible structures that allow generating smooth motion, low energy expenditure, and efficient thrust. The fact proves that compliant fins of natural fish own high propulsive efficiency. Three variation types of pectoral fins comprising uniform ones, non-uniform ones, and folding ones were investigated. First, the modeling issue of the robot with uniform fins was conducted.

The fins were considered as cantilever beams. An appended simplistic controller was then designed to track the referent trajectories of direction and surge velocity. Second, to imitate the biological fish fin, the shape of snakehead fish was adopted. Its mathematical model was established with the assistant of the Rayleigh-Ritz method in deflection modeling.

Finally, to improve the fish robot's swimming speed as well as energy consumption efficiency, artificial folding pectoral fin-type, which is inspired by the change of drag/thrust area ratio of a natural fish fin, was proposed. The computation model of the above types is established on the base of body rigid dynamics and Morison's force. Wherein the fluid influences on the fin movements are described as separated elements of added mass and damping. For two last fin types, the Lagrange approach was applied to build dynamic equations of motion.

Moreover, experimental works are carried out to validate and evaluate the recommended models. The achieved ii results confirmed that the proposals are feasible and able to predict the behavior of the robot relatively well. Remarkably, the robotic fish with folding pectoral fins can attain faster movement speed and better maneuverability compared with previous designs using the same pectoral fins. In detail, the robot can reach an average velocity of 0.231 m/s ) and a turning radius of 0.25m) in correspondence to forward swimming motion and turning motion.

Furthermore, the peak of velocity performance obtains 0. On the other hand, it is revealed that the folding pectoral fins with reasonably flexible joints provide better speed performance than the high stiffness ones. As an obtained achievement, the outcome of the dissertation can be promoted to design practical control algorithms, which track following the desired trajectory or interact with the surrounding environment. Furthermore, it can be expanded on the optimization issues of motion responses.

Some future trends can be addressed to tackle challenges for improving swimming efficiency as well as building a more complex dynamic model of three-dimensional motion. iii 7Ï07Ҳ7 1KXFҫXYӅPӝWKӋWKӕQJÿҭ\PӟLNK{QJFKӍKLӋXTXҧKѫQFҩXWU~Fÿҭ\WUX\ӅQWKӕQJ PjFzQWKkQWKLӋQKѫQYӟLP{LWUѭӡQJOjPӝWOêGRFKRYLӋFQJKLrQFӭXYӅFiFURERW YӟLFiFYk\ÿѭӧFOҩ\FҧPKӭQJWӯFi7URQJNKLÿyYk\K{QJFӫDFiVLQKKӑFÿyQJPӝW YDLWUzTXDQWUӑQJWURQJFѫFKӃYұQÿӝQJÿһFELӋWFKӍFyPӝWWӹOӋQKӓFiWӵQKLrQVӱ GөQJYk\K{QJOjPWKjQKSKҫQÿҭ\FKtQK7X\QKLrQKҫXKӃWFiFWӹOӋFzQOҥLVӱGөQJ FiFYk\Qj\FKRNKҧQăQJFѫÿӝQJYjәQÿӏQKFӫDFKX\ӇQÿӝQJEѫL.KҧQăQJWăQJWӕF JLӳWKăQJEҵQJFNJQJQKѭOѭӟWÿLWURQJNKRҧQJFiFKQJҳQOjÿһFÿLӇPFӫDFiVӱGөQJ NLӇXYk\Qj\ 0һWNKiFP{KuQKÿӝQJOӵFKӑF FӫDFiFYk\ YӟLVӵNKiFQKDXFӫDKuQK GҥQJYjÿӝOLQKKRҥWOjPӝWYҩQÿӅTXDQWUӑQJWX\Yұ\QyFKѭDÿѭӧFÿӅFұSWURQJFiF QJKLrQFӭXWUѭӟFÿk\7URQJQӛOӵFWҥRUDPӝWEҧQVDRFӫDFiWӵQKLrQOXұQiQQj\ÿӅ [XҩWPӝWVӕFiFKWLӃSFұQPӟLWURQJYLӋFWKLӃWNӃSKkQWtFKYjWKLӃWOұSP{KuQKWRiQ KӑFFKRPӝWURERWJLӕQJQKѭFiVӱGөQJFiFYk\K{QJ /ҩ\FҧPKӭQJWӯYk\FiWӵQKLrQOXұQiQ WұSWUXQJYjRFiFFҩXWU~FOLQKKRҥWFKRSKpS WҥRUDFKX\ӇQÿӝQJWUѫQWUXFKLSKtQăQJOѭӧQJWKҩSYjOӵFÿҭ\KLӋXTXҧ&iFNKҧRViW FKRWKҩ\UҵQJFiFGҥQJvây PӅP FӫDloài cá WӵQKLrQVӣKӳXKLӋXTXҧÿҭ\FDRTrong OXұQiQQj\EDGҥQJvây ULrQJELӋWEDRJӗPNLӇXÿӗQJGҥQJ, NLӇXNK{QJÿӗQJGҥQJ và NLӇX vây JҩSÿmÿѭӧFQJKLrQFӭXĈһFELӋWÿӇEҳW FKѭӟFYk\FiVLQKKӑFKuQKGiQJ KuQKKӑFFӫDvây hông FiOyFÿmÿѭӧFWK{QJTXD0{ KuQKWRiQKӑFFӫDQyÿѭӧFWKLӃW OұSYӟLVӵWUӧJL~S FӫDSKѭѫQJSKiS5D\OHLJK-Ritz trong mô hình hóa ELӃQGҥQJ+ѫQ QӳDÿӇFҧLWKLӋQWӕFÿӝEѫLFӫDURERWFiFNJQJQKѭKLӋXTXҧWLrXWKөQăQJOѭӧQJNLӇX vây K{QJJҩS QKkQWҥRÿѭӧFOҩ\FҧPKӭQJWӯVӵWKD\ÿәLWӹOӋGLӋQWtFKFҧQÿҭ\FӫDYk\ FiWӵQKLrQÿmÿѭӧFÿӅ[XҩW0{KuQKWtQKWRiQFӫDrobot và FiFORҥL vây WUrQÿѭӧFWKLӃW OұS GӵD WUrQ Fѫ Vӣ ÿӝQJ OӵF KӑF WKkQ FӭQJ và mô hình OӵF 0RULVRQ Ӣ ÿk\ FiF ҧQK KѭӣQJFӫDFKҩWOӓQJOrQFiFFKX\ӇQÿӝQJFӫDYk\ÿѭӧFP{WҧQKѭOjFiFSKҫQWӱULrQJ ELӋWYӟL NKӕLOѭӧQJ thêm vào và ÿӝFҧQFKҩWOӓQJĈӕLYӟLKDLNLӇXYk\FXӕLSKѭѫQJ SKiS/DJUDQJHÿѭӧFVӱGөQJÿӇWKLӃWOұSFiFSKѭѫQJWUuQK ÿӝQJOӵFKӑFFKX\ӇQÿӝQJ. +ѫQQӳDcác WKӱQJKLӋPFNJQJÿѭӧFWKӵFKLӋQÿӇNLӇPWUD YjÿiQKJLicác mô hình ÿm ÿӅ[XҩW&iFNӃWTXҧÿҥWÿѭӧFÿmNKҷQJÿӏQK UҵQJFiFÿӅ[XҩWOjNKҧWKLYjFyWKӇGӵ ÿRiQFiFKjQKYLFӫDURERWWѭѫQJÿӕLWӕWĈiQJFK~êFiURERWFyYk\K{QJ JҩSFyWKӇ iv ÿҥWWӕFÿӝGLFKX\ӇQQKDQKKѫQYjNKҧQăQJFѫÿӝQJWӕWKѫQVRYӟLFiFWKLӃWNӃWUѭӟF ÿyVӱGөQJFQJNLӇXYk\&өWKӇURERWFyWKӇ ÿҥWYұQWӕFWUXQJEuQK0.231 m/s ÿӕL YӟLFKX\ӇQÿӝQJEѫLWKҷQJ YjEiQ NtQKFKX\ӇQKѭӟQJ 0.25m) khi chuyӇQKѭӟQJ9ұQWӕFFDRQKҩWFNJQJÿҥWWӟL0.308 m/s 0һWNKiFQyÿѭӧF WLӃWOӝUҵQJYk\K{QJJҩSYӟLNKӟSOLQKKRҥWYӯDSKҧLFyÿiSӭQJWӕFÿӝWӕWKѫQVRYӟL NLӇXYk\FyÿӝFӭQJ NKӟSFDR.ӃWTXҧFӫDOXұQiQFyWKӇÿѭӧFVӱGөQJWURQJWKLӃWNӃFiF WKXұWWRiQÿLӅXNKLӇQEiP TXӻÿҥRPRQJ PXӕQKRһFWѭѫQJWiFYӟLP{LWUѭӡQJ[XQJTXDQK+ѫQQӳDQyFyWKӇ ÿѭӧFPӣUӝQJWURQJFiFYҩQÿӅWӕLѭXKyDFKX\ӇQÿӝQJ0ӝWYjLKѭӟQJ SKiWWULӇQtrong WѭѫQJODLFyWKӇÿѭӧFÿӅFұSÿӇJLҧLTX\ӃWFiFWKiFKWKӭFWURQJFҧLWKLӋQKLӋXTXҧEѫL FNJQJ QKѭ [k\ GӵQJ PӝW P{ KuQK ÿӝQJ OӵF KӑF SKӭF WҥS KѫQ FKR FKX\ӇQ ÿӝQJ robot trong không gian EDFKLӅX v ACKNOWLEDGMENTS I want to express my sincere appreciation to my academic advisors, Associate Professor Tuong Quan Vo and Associate Professor Tan Tien Nguyen, for their patient guidance, constructive recommendations, and enthusiastic encouragement. Special thanks should be given to the first advisor throughout my research journey.

My dissertation would not be completed without his invaluable support. I would also like to thank Associate Professor Le Dinh Tuan, for his advice and assistance in using the measurement sensors. My thanks are also extended to Associate Professor Nguyen Quoc Chi, Associate Professor Nguyen Duy Anh, and Associate Professor Bui Trong Hieu for valuable critiques, positive feedback, and warm encouragement. Additionally, I want to send my sincere thanks to Dr.

Do Xuan Phu and anonymous reviewers for their suggestions to complete this dissertation. Furthermore, I wish to thank my wife and my parents for their generous patience, unwavering assistance, and encouragement throughout my study tenure. Finally, I would also like to extend my thanks to Pham Van Dong University for permission to attend this research program. The grateful appreciation should be given to the Ho Chi Minh City University of Technology and project 911-the Ministry of Education and Training, Vietnam, for providing financial support (TNCS-CK-2015-13).

vi CONTENTS LIST OF FIGURES. x LIST OF ABBREVIATIONS. xv CHAPTER 1 INTRODUCTION .3 Aim and scope .4 Methods and results .5 Organization of dissertation .1 Morphology and anatomy in the bio-inspired design of pectoral fin .2 Kinematic and experiment .3 Fish robot with pectoral fin ray .4 Modeling based numerical simulation .5 Application of smart materials in the design of pectoral fin .6 Experiment technique and data capturing .7 Control issue of fish robot driven by pectoral fins. 35 CHAPTER 3 DYNAMIC ANALYSIS AND MOTION CONTROL .1 Fish robot with uniform fin flexible pectoral fins .1 The proposed model of fish robot with uniform flexible pectoral fin .2 Dynamic model of uniform flexible fins .3 Hydrodynamics of the robot body .4 Trajectory tracking control for robot motion .2 Fish robot propelled non-uniform pectoral fins .1 Geometric design of non-uniform pectoral fin .2 Dynamic model of the robotic fish with non-uniform pectoral fins .3 Motion control of the non-uniform pectoral fins .3 Fish robot with folding pectoral fins .1 Mechanical design of folding fins .2 Dynamic model fish robot with folding fins .3 Motion control of the folding pectoral fins .1 Experimental works concerning the fish robot with the non-uniform pectoral fins 66 4.1 Experimental measurement of robot motion .2 Estimation of natural frequencies and mode shape functions of non- uniform fins .3 Estimation of the internal damping of flexible non-uniform fins .4 Measurement of thrust coefficient CT .5 Other dynamic coefficients of the robot with non-uniform fins .2 Experimental setup and the parameters determination of the fish robot with folding fin .1 Experimental setup of the motion measurement of the robotic fish .2 Estimation of stiffness and damping coefficients of flexible joint .3 Determination of stroke ratio and amplitude ratio of stimulating moment 80 4.4 Determination of other coefficients.

81 CHAPTER 5 RESULTS AND DISCUSSION .1 Performance of fish robot with uniform pectoral fin .2 Performance of fish robot with non-uniform fins .3 Performance of fish robot with folding pectoral fins .1 Influence of the fin joint flexibility on the swimming behavior of the robot 93 5.2 Swimming performance of the robot in the transient state .3 Swimming performance of the robot in the steady-state .4 Expenditure power, cost of transport, propulsive efficiency and Strouhal number 101 CHAPTER 6 CONCLUSION. 107 LIST OF PUBLICATIONS. 135 ix LIST OF FIGURES Figure 1.1 Classification of fish species based on locomotion mechanism: (a) BCF propulsion, (b) MPF propulsion [7].2 A classification of fish-inspired robot [6].3 Some prototypes of the fabricated fish robots: (a) BCA [8], (b) MPA [9], (c) JET [10].4 Fish robot with two links and a complaint tail (a) [17], autonomous robotic fish with a soft tail part embedded fluidic actuator (b) [18].5 Transmission mechanism for the tail of a fish robot: (a) using linear hypocycloid [19].6 An Agile robotic fish with high maneuverability [64].7 Propulsion and turn system of a vessel using propellers [126].8 Gomphosus varius fish [128].9 Summary of the research approach scope.1 An illustration of three basic operation modes of pectoral fins [141].2 Anatomy of the pectoral fins on parrotfish: (a) Position of fins, (b) Structure of skeleton, (c) Illustration of muscles (adapted from [2]).3 Motion demonstration of pectoral fin prototype mimicking the movement of bluegill sunfish fin: (a) expansion, (b) curl, (c) relax, and (d) cupping [144].4 Illustration of a robotic design with a pectoral fin [141].5 Mechanical design of fish robot propelled by two DOFs pectoral fins [136].6 Motion production structure for pectoral fins (a), the illustration of transmission principle diagram on pectoral fin (b), entire transmission mechanisms on the fish robot (c) [150].7 Prototype of fish robot Manta [40].8 Versions of Cownose ray robot and the pectoral fin structure of Robot-ray IV [154].10 Analytical scheme of the pectoral fin of manta (a), the design demonstration of bionic manta robot (b) [156].11 Definition of sweep angle (a), illustrations of MantaDroid driven by pectoral (b) [157].12 Illustration of artificial pectoral fin based four tensegrity beam (a) and experiment of a tensegrity structure (b) [158].13 Model of pectoral fin types: rigid fin (a), flexible fin (b), fin with variable stiffness (c) [159].14 An illustration of Batoid ray fish robot using IPMC pectoral fin [162].15 Structure of a bionic pectoral fin: (a) the design model (1-fin base, 2-fin rays, 3-soft membranes), (b) the practical model underwater [163].16 Design and deformation state of a fin ray unit: (a) initial state (1-root plate, 2-tip plate, 3-extensive plate), (b) bending root plate, (c) bending tip plate, (d) bending of two plates in simultaneous, (e) pectoral fin prototype with flapping motion [47].17 Illustration of the motion pectoral fin: recording method of kinematic data for Koi Carp fish (a) and four-motion mode extracts from experimental data (b) [142].18 Demonstration of pectoral fin motion patterns in both real Koi Carp fin motion and artificial fin motion: (a) relaxation, (b) expansion, (c) bending, (d) undulation [47].19 Illustration of Boxfish inspired robot: (a) design model [168], (b) fabricated prototype [169].21 Illustration of rowing mode in both power stroke and recovery stroke (a), full prototype of the robot (b), the structure of joint in power stroke (c) and recovery stroke (d), fabricated model of pectoral fin (e) [82].22 The prototype of left and right pectoral fins (a), the fabricated fish robot with flexible pectoral fins and identification markers (b) [80].23 Area variable fin [171].1 A fish-like robot model principally propelled by flexible pectoral fins.2 Analysis diagram of robot motion utilizing the uniform pectoral fin.3 The schematic diagram of direction and velocity controller.4 The compliant non-uniform fin profile.5 The descriptive diagram of the fish robot with non-uniform fins.6 Demonstration of movement mechanism of fin panels in one cycle.