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Proceedings of CAD'14, 2014, 121-122
Swaying Robot Fish Design and Prototyping

Waipik Lau, Ruxu Du, The Chinese University of Hong Kong
Zhong Yong, Guangzhou Institute of Advanced Technology

Abstract. Inspired by the snake skeleton configuration and octopus muscle arrangement, the wire-driven mechanism can well mimics the wave-like body motion of fish, snake and octopus. Moreover, with different wire configuration and arrangement, the wire-driven mechanism can make different motions in 3D. In previous works, models of oscillatory form and undulatory form have been built, based on the structure of fish red muscle which runs in a parallel orientation with respect to the long axis of the fish. These models provide robots with a high-efficient propulsion and excellent maneuverability under water. However, due to the nature of parallel wire pairs, models can only give lateral movement, while real fish propulsion is not purely lateral flapping. For every flapping, the fish has its own caudal fin twisting pattern in order to stabilize the swimming body, to adjust its swimming motion and to obtain maximum propulsion efficiency. Unfortunately, there is not any robot fish providing a twisting motion. In light of this, we build a swaying robot fish to study the swaying motion with two wire pairs. Wire-driven mechanism is composed of a backbone and a number of wire pairs, which is used to transmit force and motion from motors. In models of oscillatory form and undulatory form, parallel wire pairs are used to guide bending. It is inspired by fish red muscle, which is used during steady swimming. The pair of parallel wire is configured just besides, and parallel to, the backbone of caudal fin.

Keywords. Biomimetic, wire-driven mechanism, robot fish

DOI: 10.14733/cadconfP.2014.121-122