Titel: Robotic Fish iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
Verlag: Createspace Independent Publishing Platform
Erscheinungsjahr: 2016
Sprache: Englisch
ISBN-10: 1537269992
ISBN-13: 9781537269993
Einband: Paperback / softback
Zustand: New
Gewicht: 36 Gramm

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Abstract—This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss. Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.

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Abstract—This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss. Keywords: Robotic fish � Carangiform swimming � Mechanical drive system � Full-Body length.

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