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A novel actuation for a robotic fish using a flexible joint

  • Robotics and Automation
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper presents a novel actuation mechanism to enable the span-wise undulating motion of the caudal fin of a robotic fish. To minimize the mechanical components such as cams, pulleys and gears, a flexible joint-based wave machine mechanism is adopted to generate the waving motion of the caudal fin. In particular, the proposed mechanism has the advantages of minimum total weight and few mechanical components because of its simplicity. Through analysis and experiments, the efficacy of the proposed mechanism is validated.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea

    Soohyun Kim & Kyung-Soo Kim

  2. Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Daejeon, Korea

    Dongwon Yun, Jinho Kyung & Sunghwi Lee

Authors
  1. Dongwon Yun
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  2. Soohyun Kim
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  3. Kyung-Soo Kim
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  4. Jinho Kyung
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  5. Sunghwi Lee
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Corresponding authors

Correspondence to Soohyun Kim or Kyung-Soo Kim.

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Yun, D., Kim, S., Kim, KS. et al. A novel actuation for a robotic fish using a flexible joint. Int. J. Control Autom. Syst. 12, 878–885 (2014). https://doi.org/10.1007/s12555-013-0399-8

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  • DOI: https://doi.org/10.1007/s12555-013-0399-8

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