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Design and Control of Diving Mechanism for the Biomimetic Robotic Fish

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Book cover Mechatronics 2017 (MECHATRONICS 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 644))

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Abstract

This paper focuses on generating nonlinear mathematical model of the robotic fish and design a novel diving mechanism for the robotic fish prototype. For this purpose, diving behavior of a real fish is analyzed by using Kineova 8.20. The designed diving mechanism model is constructed by using moving of the sliding mass and dynamic model of robotic fish behavior is performed completely. The diving mechanism is also rearranged by adapting to the robotic fish prototype in order to obtain simple and better design performance. Hence, three dimensional motions results are obtained by using the nonlinear mathematical model and diving mechanism of the robotic fish with different diving angles.

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Acknowledgement

This study was supported by the 114E652 TUBITAK 1001 project. We would like to thank because of the financial support and guiding reports.

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Authors and Affiliations

  1. Mechatronics Engineering Department, Technology Faculty, Firat University, Elazig, Turkey

    Gonca Ozmen Koca, Mustafa Can Bingol, Cafer Bal, Zuhtu Hakan Akpolat, Mustafa Ay & Deniz Korkmaz

Authors
  1. Gonca Ozmen Koca
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  2. Mustafa Can Bingol
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  3. Cafer Bal
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  4. Zuhtu Hakan Akpolat
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  5. Mustafa Ay
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  6. Deniz Korkmaz
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Corresponding author

Correspondence to Gonca Ozmen Koca .

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Editors and Affiliations

  1. Faculty of Mechanical Engineering, Institute of Mathematics, Brno University of Technology, Brno, Czech Republic

    Tomáš Březina

  2. Faculty of Mechatronics, Institute of Metrology and Biomedical Engineering, Warsaw University of Technology, Warsaw, Poland

    Ryszard Jabłoński

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Koca, G.O., Bingol, M.C., Bal, C., Akpolat, Z.H., Ay, M., Korkmaz, D. (2018). Design and Control of Diving Mechanism for the Biomimetic Robotic Fish. In: Březina, T., Jabłoński, R. (eds) Mechatronics 2017. MECHATRONICS 2017. Advances in Intelligent Systems and Computing, vol 644. Springer, Cham. https://doi.org/10.1007/978-3-319-65960-2_82

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  • DOI: https://doi.org/10.1007/978-3-319-65960-2_82

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65959-6

  • Online ISBN: 978-3-319-65960-2

  • eBook Packages: EngineeringEngineering (R0)

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