Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes
| Autor: | Mustafa Can Bingol, Cafer Bal, Deniz Korkmaz, Mustafa Ay, Zuhtu Hakan Akpolat, Gonca Ozmen Koca |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer Networks and Communications Computer science robotic fish lcsh:TK7800-8360 02 engineering and technology 020901 industrial engineering & automation Cog Control theory Electrical and Electronic Engineering Carp fish-like motion biology Lamprey lcsh:Electronics Fish fin Central pattern generator Mechatronics 021001 nanoscience & nanotechnology biology.organism_classification Rigid body Gait Mechanism (engineering) central pattern generator Hardware and Architecture Control and Systems Engineering biomimetic design Signal Processing Fish 0210 nano-technology three-dimensional swimming |
| Zdroj: | Electronics Volume 7 Issue 7 Electronics, Vol 7, Iss 7, p 118 (2018) |
| ISSN: | 2079-9292 |
| DOI: | 10.3390/electronics7070118 |
| Popis: | This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs-1 and excellent three-dimensional swimming performance is obtained. |
| Databáze: | OpenAIRE |
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