Development of a fish-like propulsive mechanism

Abstract

This paper presents the design process of a fish-like propulsive mechanism for robotic tuna fish, ARTEMIS, fabricated at the Center for Advanced Vehicles (CAV), University of Tehran. he mechanical design enables efficient sinusoidal motions, for dominant thrust and motion in water. More importantly, maneuverability of the robot fish will enhanced by varying oscillatory characteristics. The desired characteristics are met by implementing predefined kinematics. Experimental results are presented to show the feasibility and performance of the fabricated mechanism.