Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish (High Speed Robotics. Mechanical engneering and kinematics for maximum velocity robotics.)

Clapham PhD, Richard James

ISBN 10: 1537270907 / ISBN 13: 9781537270906

Published by CreateSpace Independent Publishing Platform, 2016

About this Item

Seller Inventory # ABLING22Oct2817100140757

Bibliographic Details

• Title: Robotic Fish iSplash-II: Realizing Fast Carangiform Swimming to Outperform a Real Fish (High Speed Robotics. Mechanical engneering and kinematics for maximum velocity robotics.)
• Publisher: CreateSpace Independent Publishing Platform
• Publication Date: 2016
• Language: English
• ISBN 10: 1537270907
• ISBN 13: 9781537270906
• Binding: Soft cover
• Condition: New

About this title

Synopsis

Abstract—This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz. Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.