Robofish

Abstract

The study of biomimetics is largely driven by the desire to integrate design advantages found in the natural world to experimental devices and, ultimately, practical machines. The work contained herein consisted of the construction of a biomimetic robotic fish as a functional experimental apparatus. An experimental process is to obtain fish swimming.The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion.The objective of this paper is to mimic the propulsion mechanism carangiform swimming style to show the fish behavior navigating efficiently distances at impressive speeds and its exceptional characteristics.The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework.. A comprehensive propulsion mechanism study of the different parameters namely the tail-beat frequency(TBF), the propulsive wavelength, and the caudal amplitude are studied under this framework. Yaw angle study for the underwater robotic fish vehicle is also carried out as it describes the course of the robotic fish vehicle. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions.