Abstract
This paper presents an improved fish robot actuated by four lightweight piezocompositeactuators. Our newly developed actuation mechanism is simple to fabricate because itworks without gears. With the new actuation mechanism, the fish robot has a 30% smallercross section than our previous model. Performance tests of the fish robot in waterwere carried out to measure the tail-beat angle, the thrust force, the swimmingspeed for various tail-beat frequencies from 1 to 5 Hz and the turning radius atthe optimal frequency. The maximum swimming speed of the fish robot is 7.7 cm s − 1 at a tail-beat frequency of 3.9 Hz. A turning experiment shows that the swimming directionof the fish robot can be controlled by changing the duty ratio of the driving voltage; thefish robot has a turning radius of 0.41 m for a left turn and 0.68 m for a right turn.
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