Design, fabrication and hydrodynamic analysis of a biomimetic robot fish

Abstract

This paper is a review on design, fabrication and hydrodynamic analysis of a biomimetic robot fish that is made in Advanced Dynamic and Control System Laboratory, ADCSL, at University of Tehran. In order to build a fish-like swimming robot comprehensive hydrodynamic and structural analysis were performed in addition to a lot of try and errors in fabrication. All of these followed by extensive study of biology of the fish especially their maneuverability and propulsion system. Swimming principle is achieved from Carangiform swimming mode. This is the swimming mode of fish that use their tail and peduncle for propulsion. Experiments show feasibility and good execution of ADCSL robot fish.