Abstract
This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs-1 and excellent three-dimensional swimming performance is obtained.
Highlights
The biomimetic approach has become a very popular topic with developing new technologies inspired by nature
bodies and/or caudal fins (BCF) locomotion can be categorized into four basic subgroups as Anguilliform, Subcarangiform, Carangiform and Thunniform according to the wavelength and amplitude of the propulsive wave [16,31,32]
Carangiform locomotion, the most common type of BCF, exhibits significant swimming actions such as undulatory swimming motions, high speed performance, low noise, fast start, rapid turning and high accelerations. These specifications of Carangiform locomotion provide an appropriate solution for biomimetic design of Autonomous Underwater Vehicle (AUV) [32,33,34,35]
Summary
The biomimetic approach has become a very popular topic with developing new technologies inspired by nature. Investigation of existing systems in nature and adapting this technology from nature to engineering fields are called biomimetic. The aim of the biomimetic design is to bring innovative solutions to engineering problems by imitating living forms and improving existing systems. Nowadays, this significant approach is frequently utilized in many different fields, such as robotics, artificial intelligence, nano-technology, defense systems, healthcare, etc. It is well known that fish are the best swimmers with their high maneuverability, fast swimming and sudden acceleration in nature. A fish-like underwater robot, which has flexible tail mechanism, can swim faster and more quietly with lower consumption
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