Bio-inspired Compliant Robotic Fish: Design and Experiments

Journal of Bionic Engineering, 2013

Robotica, 2019

SUMMARYBiological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By co...

… and Computers in …, 2008

Abstract: - This paper is a review on design, fabrication and hydrodynamic analysis of a biomimetic robot fish that is made in Advanced Dynamic and Control System Laboratory, ADCSL, at University of Tehran. In order to build a fish-like swimming robot comprehensive hydrodynamic and ...

Imitating the style of the motion of fish mail in nature, this paper design and develop a single joint tail fin-propelled small robotic fish system. To meet the design specifications of the premise. The whole design process is divided into mechanical design, software and hardware design. The three-dimensional design software Solidworks is used for mechanical structural modeling, interference check and motion simulation tests. Arduino integrating development environment is used for compiling and writing controlling procedures and hardware circuit board is selected to complete motor control, remote communications and other tasks. After repeated experiments optimization, the high propulsive efficiency tail fin is designed at last and maximum sailing speed, radius of turning circle ,the maximum floating and diving speed of robotic fish under the promote of caudal fin is tested. At the same time, we use the appropriate choice of remote communication technologies to achieve free remote control of the machine fish when the depth of the water is certain. Additionally, the robot fish shell is landscaped and other items are tested, such as immersion test that under water for a long time and the test of the continuation of the journey. Testing shows that all items meet the requirements.

Smart Materials and Structures, 2010

Journal of Experimental Biology, 2011

SUMMARY We designed a robotic fish caudal fin with six individually moveable fin rays based on the tail of the bluegill sunfish, Lepomis macrochirus. Previous fish robotic tail designs have loosely resembled the caudal fin of fishes, but have not incorporated key biomechanical components such as fin rays that can be controlled to generate complex tail conformations and motion programs similar to those seen in the locomotor repertoire of live fishes. We used this robotic caudal fin to test for the effects of fin ray stiffness, frequency and motion program on the generation of thrust and lift forces. Five different sets of fin rays were constructed to be from 150 to 2000 times the stiffness of biological fin rays, appropriately scaled for the robotic caudal fin, which had linear dimensions approximately four times larger than those of adult bluegill sunfish. Five caudal fin motion programs were identified as kinematic features of swimming behaviors in live bluegill sunfish, and were u...

Machines, 2022

Fishes have evolved different excellent swimming strategies. To study the influence of tail fin swing on the swimming performance of bionic robot fish, with one joint under the same tail swing frequency and amplitude, we designed a novel robot fish, driven by a double-cam mechanism. By designing the profile of the cam in the mechanism, the robot fish can achieve different undulatory motion trajectory of the caudal fin under the same tail swing frequency and amplitude. The mechanism simulated the undulatory motion of crucian carp. We studied the influence of undulatory motion on the swimming speed of robot fish, which was analyzed by dynamic analysis of the undulatory motion and experiments. According to the experimental results, we can find that the swimming speed of the robotic fish is different under various wave motions. When other conditions are the same, the speed that the robot fish can achieve by imitating the swing motion of the real fish is 1.5 times that of the robot fish ...

2011 IEEE International Conference on Robotics and Automation, 2011

Contabilidad de Costos

Sello Editorial: COLECCIÓN DIDÁCTICA CIENCIAS ECONÓMICAS Y ADMINISTRATIVAS CONTABILIDAD DE COSTOS Todas las ciencias tienen sus atractivos; pero no hay otra que aventaje, ni tal ves iguale a las matemáticas... Balmes FUNDACIÓN SAN MATEO EDUCACIÓN SUPERIOR