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Open AccessArticle

Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

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Department of Mechatronics Engineering, University of Firat, Elazig 23119, Turkey
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Department of Electrical and Electronics Engineering, University of Firat, Elazig 23119, Turkey
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Author to whom correspondence should be addressed.
Electronics 2018, 7(7), 118; https://doi.org/10.3390/electronics7070118
Received: 28 May 2018 / Revised: 27 June 2018 / Accepted: 6 July 2018 / Published: 18 July 2018
This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs-1 and excellent three-dimensional swimming performance is obtained. View Full-Text
Keywords: robotic fish; biomimetic design; fish-like motion; three-dimensional swimming; central pattern generator robotic fish; biomimetic design; fish-like motion; three-dimensional swimming; central pattern generator
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MDPI and ACS Style

Ay, M.; Korkmaz, D.; Ozmen Koca, G.; Bal, C.; Akpolat, Z.H.; Bingol, M.C. Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes. Electronics 2018, 7, 118.

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