Development of a 3-DOF Fish Robot ‘ICHTHUS V5’
In recent, there is a rising interest on studying fish-like underwater robots because of real fish’s great maneuverability and high energy efficiency. However, researches about the fish-like underwater robots have not been investigated so much and there are still diverse problems in respect of using of the fish robot in the real environment such as in the river for detecting water pollution. For example, the fish robot has a short operating time and cannot move narrow passage such as swimming between aquatic plants. Therefore, this paper mainly describes a development of robotic fish which can be used for water quality monitoring system. The fish robot ‘Ichthus V5’ has a 3-DOF serial link-mechanism and is developed in KITECH. Furthermore, we propose a dynamic equation of the fish robot to use the underwater environment. We added several sensors to navigate autonomously in the real environment like river. Also, we added two kinds of sensor to detect temperature, electric conductivity, pH (hydrogen ion concentration) of water. Therefore, the developed system can be applied to environmental monitoring system for detect pollution or quality of river.
Keywordsrobotic fish dynamic analysis propulsion propulsive
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