Design, kinematic modeling, and implementation of autonomous fish robot for underwater sensing

摘要

Mechatronics design of fish robot and kinematic modeling for its movements including straight, turn, and up-down movements have been successfully implemented. The fish robot is designed with two joints to adopt the movement of carangiform fish which creates motion and controls its movements by using 1/3 of its body. Two methods for producing up-down motion are investigated, namely the pectoral fin and weight moving method and it is found that for this particular robot pectoral fin method is more effective. In addition to kinematic modeling for its movement, the fish robot is also equipped with navigation sensor such that infrared and Inertial Navigation System (INS) so that it can move autonomously. Main navigation parameters such as yaw, pitch, roll, and heading have been successfully monitored for evaluation of positions and movements. The fish robot is also equipped with sensor to obtain data related to water quality and wifi for data transmission. Thus the robot is highly potential for effective and efficient underwater sensing tasks.