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Design, Implementation and Control of a Fish Robot with Undulating Fins
| Content Provider | SAGE Publishing |
|---|---|
| Author | Siahmansouri, Mohsen Ghanbari, Ahmad Mir Masoud Seyyed Fakhrabadi |
| Copyright Year | 2011 |
| Abstract | Biomimetic robots can potentially perform better than conventional robots in underwater vehicle designing. This paper describes the design of the propulsion system and depth control of a robotic fish. In this study, inspired by knife fish, we have designed and implemented an undulating fin to produce propulsive force. This undulating fin is a segmental anal fin that produces sinusoidal wave to propel the robot. The relationship between the individual fin segment and phase angles with the overall fin trajectory has also been discussed. This propulsive force can be adjusted and directed for fish robot manoeuvre by a mechanical system with two servomotors. These servomotors regulate the direction and depth of swimming. A wireless remote control system is designed to adjust the servomotors which enables us to control revolution, speed and phase differences of neighbor servomotors of fins. Finally, Field trials are conducted in an outdoor pool to demonstrate the relationship between robotic fish speed and fin parameters like phase difference, the number of phase and undulatory amplitude. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/50898?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 8 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/50898 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2011-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2011 Siahmansouri et al.; licensee InTech. |
| Subject Keyword | Undulating fin Controlling of direction and depth Wireless control system Fish robot Biomimetic |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
