Design of a Novel Robotic Fish Structure Utilizing PVC Gel Actuators

摘要

In this research work, it has been designed a bionic robot fish structure, can swim underwater. The active compact body is powered by eight sets of symmetric PVC gel actuators with a caudal fin. The robot’s 200 mm-long, fish structure design incorporates a 55.52 angle to optimize the fish dynamics movement. It’s a fast and smooth operation and can swim. The robot can swim fast and quietly by using the right positions and the appropriate actuators on PVC gel actuators. This design entails a unique architecture that enables the robot to move safely and unobtrusively at the same time, which makes it suitable equipment for different exploration and surveillance missions in the water with speed and silent operation as the foremost concern.