Design, Fabrication, and Swimming Performance of a Free-Swimming Tuna-Mimetic Robot

Sayyed Farideddin Masoomi,Axel Haunholter,Mathieu Sellier,Dominic Merz,Xiaoqi Chen,Stefanie Gutschmidt

doi:10.1155/2014/687985

Abstract

High efficiency in cruising is a determining factor in developing tuna-mimetic robots. So far, a number of tuna-like robots have been made. Nevertheless, the University of Canterbury has developed its own tuna-like robot called UC-Ika 1 to investigate and to accordingly improve the swimming performance of the biomimetic swimming robots. In order to do so, the propulsion system of a tuna with respect to its thrust and resistive forces is studied. Following that, the fish robot is designed and fabricated considering the tuna propulsion system. The robot is then tested several times to investigate its swimming performance. Comparison of the speed and efficiency of UC-Ika 1 with those of other tuna-like robots shows a promising improvement of cruising performance of UC-Ika 1.

Highlights

The majority of underwater tasks such as monitoring of sea cable and pipelines or pollution search demand a robot with navigation capabilities for a long period of time [1]
This paper presents the steps of developing the tuna-mimetic robot in brief including design, modeling, and fabrication and discusses the swimming performance of the robot in detail
While optimized design regarding the shape of the body and the caudal fin can enhance the swimming performance of a fish robot, there exist other decisive factors of designing an efficient swimming robot

Summary

Introduction

The majority of underwater tasks such as monitoring of sea cable and pipelines or pollution search demand a robot with navigation capabilities for a long period of time [1]. For this purpose, biomimetic swimming robots are the most suitable ones due to their fast, very efficient, and highly maneuverable performance [2]. The authors have developed a fish robot that is inspired by a tuna in order to study its cruising efficiency. This paper presents the steps of developing the tuna-mimetic robot in brief including design, modeling, and fabrication and discusses the swimming performance of the robot in detail.

Physic Criteria of Tuna Design

Prototype Design

Fabrication and Assembly

Fish Performance

Findings

Conclusion