iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6 m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss.
KeywordsRobotic fish Carangiform swimming Mechanical drive system Full-Body length
Our thanks go to Richard Clapham senior for his financial contribution and technical assistance towards the project. This research was financially supported by the research grant “ECROBOT: European and Chinese Platform for Robotics and Applications,” project No 318971.
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