System and Experimental Research on Biomimetic Robot Fish

To realize fish-like robot swimming behaviors poses tremendous challenges, especially for the realization of fish body. This paper highlights the system design and experimental research of a free-swimming biomimetic robot fish. By propulsive theories, a design scheme concerning with both physical realization and control methods is presented, where multiple linked robot fish propelled by a flexible body and an oscillating tail fin can be accomplished. The system design of robot fish is decomposed into mechatronic system and motion control system. Underwater experiments are conducted to indicate the parametric relationships. The objectives of this work are to study the propulsive performance concerning with straight-line swimming speed and turning diameter. The experimental results verify that the presented scheme is effective in design and implementation. The performance of the robot fish is determined by the shape parameters and kinematic parameters. This research can instruct the further general design of robot fish.