A Dynamic Model of Robotic Dolphin Based on Kane Method and Its Speed Optimization Method
基于Kane方法的机器海豚动力学建模及速度优化方法

In this paper, a dynamic model of a robotic dolphin using Kane method is presented, and a speed optimization method based on this model is proposed to improve the proplusive speed by fitting the dolphin's wave. Firstly, the joint angle of each link and centroid's coordinate of robotic dolphin's head are selected as the generalized coordinates. Then, after analyzing the kinematic of robotic dolphin with three propulsive joints, the generalized inertia forces are given. In the meantime, the generalized active forces are obtained by analyzing the forces of each link. And thus the robotic dolphin's dynamic equations are determined. In addition, the fluke is modeled as a finite span hydrofoil or flat plate according to different ranges of its attack angle based on lifting-line theory and resistance model, respectively. Furthermore, combing the propulsion by fitting dolphin's wave, a speed optimization approach by adjusting the amplitude and phase of fluke's joint angle's profile is proposed. Finally, simulation results show that the dynamic model and optimization method are effective.