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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Conventional robotic fish often use rigid structures or complex servo systems.
  • Achieving precise phase control between body and fin movements is challenging.
  • Existing designs may lack the flexibility and maneuverability of natural fish.

Purpose of the Study:

  • To develop a biomimetic fish robot with an integrated cable-driven flexible spine.
  • To enhance control over body and tail fin movements for improved maneuverability.
  • To establish and validate kinematic and numerical models for autonomous swimming.

Main Methods:

  • Integration of a cable-driven mechanism with a flexible spine.
  • Development of a prototype biomimetic fish robot.
  • Establishment of a kinematic model and a prestress-based numerical model.
  • Multi-physical field simulation of 2D autonomous swimming.
  • Experimental validation of the kinematic model.

Main Results:

  • Successful development of a prototype biomimetic fish robot.
  • Demonstrated enhanced flexibility and ease of phase difference control.
  • Validated kinematic model accuracy through simulation and experiments.
  • Obtained swimming characteristics and hydrodynamic properties via simulation.

Conclusions:

  • The proposed cable-driven flexible spine design offers superior control and flexibility.
  • The developed kinematic and numerical models accurately represent the robot's swimming behavior.
  • This approach advances the development of agile and efficient biomimetic underwater vehicles.