Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish

ISBN-13: 9781537270906 / Angielski / Miękka / 2016 / 32 str.

Richard James Clapham Phd

Opis

Abstract-This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Keywords: Robotic fish Carangiform swimming Mechanical drive system Full-Body length."

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