TY  - BOOK
AU  - S. B. Pranesh,
AU  - V. B. N. Jyothi
TI  - Biomimetic oscillating propulsion mechanism for a robofish using embedded control system
KW  - Biomechanism
KW  - control algorithm
KW  - hydrodynamics
KW  - oscillating propulsion
KW  - robofis
N2  - 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
ER  -