Robotic Fish iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion (High Speed Robotics. Mechanical engneering and kinematics for maximum velocity robotcs.)

Clapham PhD, Richard James

ISBN 10: 1537269992 / ISBN 13: 9781537269993

Editore: CreateSpace Independent Publishing Platform, 2016

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Titolo: Robotic Fish iSplash-OPTIMIZE: Optimized ...

Casa editrice: CreateSpace Independent Publishing Platform

Data di pubblicazione: 2016

Legatura: Brossura

Condizione: New

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Abstract—This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6m 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. Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.