SNDT WOMEN'S UNIVERSITY
BMK Knowledge Resource Centre
Vithaldas Vidyavihar, Juhu Tara Road,
Santacruz (West) Mumbai - 400049
Biomimetic oscillating propulsion mechanism for a robofish using embedded control system
S. B. Pranesh,
Biomimetic oscillating propulsion mechanism for a robofish using embedded control system - pp39-45
The present study depicts the tail fin design, realisation, and propulsion performance of the biomimetic
robofish prototype utilising the carangiform motion for
efficient two-dimensional (2D) propulsion. Lighthill’s
2D waving plate theory and MATLAB simulations
are used to optimise the thrust by varying link and
joint configurations. The two-link design achieves a
speed of one knot in forward and reverse using a 12 V,
7 Ah battery and servo motor with pulse-width modulation. The robofish is onboard programmed with a
timed sequence actuation for forward and downward
manoeuvring. An experimental validation in the test
tank confirms its performance, showing its potential for
advancing bio-inspired underwater propulsion systems.
Biomechanism
control algorithm
hydrodynamics
oscillating propulsion
robofis
Biomimetic oscillating propulsion mechanism for a robofish using embedded control system - pp39-45
The present study depicts the tail fin design, realisation, and propulsion performance of the biomimetic
robofish prototype utilising the carangiform motion for
efficient two-dimensional (2D) propulsion. Lighthill’s
2D waving plate theory and MATLAB simulations
are used to optimise the thrust by varying link and
joint configurations. The two-link design achieves a
speed of one knot in forward and reverse using a 12 V,
7 Ah battery and servo motor with pulse-width modulation. The robofish is onboard programmed with a
timed sequence actuation for forward and downward
manoeuvring. An experimental validation in the test
tank confirms its performance, showing its potential for
advancing bio-inspired underwater propulsion systems.
Biomechanism
control algorithm
hydrodynamics
oscillating propulsion
robofis