Abstract-This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Keywords: Robotic fish * Carangiform swimming * Mechanical drive system * Full-Body length.
| Author: Richard James Clapham, Ph.d. |
| Publisher: CreateSpace Independent Publishing Platform |
| Publication Date: Aug 25, 2016 |
| Number of Pages: 32 pages |
| Language: English |
| Binding: Paperback |
| ISBN-10: 1537270907 |
| ISBN-13: 9781537270906 |
