DESIGN AND DEVELOPMENT OF AQUATIC LOCOMOTION ON ROBOTIC FISH

Various research projects have been conducted to create efficient, maneuverable, and environmentally friendly underwater propulsion systems. Adapting designs from the nature, this bio-mimetic mechatronics project aimed to develop a robotic shark with pectoral, caudal and dorsal fins which are most essential in the propulsion of a real shark. This project emphasized greatly on the design and development of the robotic shark. The caudal fin, the main propulsion unit, was inspired by the quick return mechanism; the slow and fast strokes of each cycle mimicked the flapping motion of the undulating shark’s tail. Studies on the shark’s motion were extensively performed. One finding discovered that the dorsal fin contributes to its overall propulsion. All these motions were programed to give the robotic shark a realistic motion. In our project, the different configurations and their impact on the total amount of thrust generated by the robot were investigated. It could be deduced that dorsal fin movement provided much lift force to counter the downward force due to gravity. Nevertheless, further studies have to be conducted to enhance the aesthetic and hydrodynamics of the robotic shark. The addition of sensors will allow the robotic shark to swim autonomously.