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SUPERVISOR : A/P SANJIB KUMAR PANDA GUIDED BY : DR. RAJESH KUMAR Presented By: BHUNESHWAR PRASAD A0076967H ELECTRICAL ENGINEERING PROJECT PROJECT TITLE : ROBOT FISH

OUTLINE ,[object Object],[object Object],[object Object],[object Object],[object Object],

In this project… ,[object Object],[object Object],[object Object],[object Object],a a Z 0 X 0 Y 0 Z 3 X 2 Y 1 X 1 Y 2 d 2 Z 1 X 3 Z 2

Fish Classification ,[object Object],[object Object],[object Object], Figure 8 Swim ming Forms (2)

How do fish swim? ,[object Object],[object Object],[object Object],[object Object]

Hydrodynamics: Effects of shape on drag ,[object Object],Disk Sphere teardrop

Carangiform/Thunniform swimming ,[object Object],Thunniform a) = torpedo-shaped b) allows minimal drag while swimming c) best shape for a pelagic cruise d) 43.4 mph leaping

MATHEMATICAL MODELING ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Effectors and Actuators ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Robot::Body ,[object Object],A link is a part, a shape with physical properties. A joint is a constraint on the spatial relations of two or more links .

Types of Joints Respectively, a ball joint , which allows rotation around x, y, and z, a hinge joint , which allows rotation around z, and a slider joint , which allows translation along x. These are just a few examples…

Degrees of freedom ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],When we design a robot our first task is decide the number of DOF and the geometry.

DOF ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Definition of a HOLONOMIC robot ,[object Object],[object Object],[object Object],Holonomic <= > Controllable DOF = total DOF Non-Holonomic <= > Controllable DOF < total DOF Redundant <= > Controllable DOF > total D OF

Kinematics ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Direct Kinematics Algorithm

Denavit-Hartenberg Convention ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Denavit-Hartenberg Parameters ,[object Object],[object Object],Transformation Matrix: = Where and were the corresponding rotational and translational matrices respectively.

Dynamic Model of n-link: Dynamic model robot can be calculated by the below mentioned equation: D(q) = a n x n inertial acceleration - related symmetric matrix whose elements are: ) = an n x 1 nonlinear Coriolis and centrifugal force vector whose elements are =

Dynamic Model of n-link: ,[object Object],and G(q) = an n x 1 gravity loading force vector whose elements are Where

Dynamic Model of 2-link ,[object Object],Employing velocity coefficients matrix for revolute joints, we can write: The standard matrix for revolute joint is represented as

Dynamic Model of 2-link Assuming all the product of inertias is zero, we find:

Dynamic Model of 2-link ,[object Object],=

Dynamic Model of 2-link We can calculate the value for ,

Dynamic Model of 2-link Next we need to derive the gravity related terms,

Dynamic Model of 2-link ,[object Object]

Robot::Controller ,[object Object],[object Object],[object Object],[object Object]

Open-loop Control Open Loop Model

Simulation Results Open Loop Model Validation Caudal link attains steady state and settles in that position, and moves linearly in one direction.

Simulation Results ,[object Object]

Simulation Results ,[object Object],[object Object]

Simulation Results Open Loop Model Simmechanics Model VRML MODEL

How can robot fish be used? ,[object Object],[object Object]

[object Object],[object Object],Figure 2 3: Robotic Fish that protects fish from danger

Conclusion ,[object Object],[object Object],[object Object]

References ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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