Loading...
| Friend's email | |
| Your name | |
| Your email | |
| enter code | |
This page was sent successfuly
- Type of Document: M.Sc. Thesis
- Language: English
- Document No: 48581 (58)
- University: Sharif University of Technology, International Campus, Kish Island
- Department: Science and Engineering
- Advisor(s): Meghdari, Ali; Selk Ghafari, Ali
- Abstract:
- In this research a robotic fish was designed and fabricated. For this propose different types of manufactured robotic fish were investigated and this model was developed and made with a one-piece flexible tail with an actuator that creates lateral movement through cable strings attached to the tail. Proposed mechanism has a simple, low cost structure that facilitates the control of the robotic fish movement. To control this robotic fish, a four-channel radio controller with 40 kHz frequency, was used. Swimming mode of this robotic fish is categorized in Subcarangiform swimming mode which is faster and has better maneuverability compared to its counterparts. It should be noted that the flexible tail could enhance the efficiency of the robotic fish swimming. The weight of the robotic fish in the original design is 1060 grams and in order to investigate how much weight it can carry before submerging, up to 2.98kg mass was placed at the center of gravity of the robot. The experimental results show that addition of one kilogram of load leads to 15 percent deficiency in robotic fish swimming speed. computation and the experimental results demonstrated that this robotic fish is able to carry a maximum load of 2.98kg
- Keywords:
- Robotic Fish ; Flexible Tail ; Locomotion ; Locomotion Control ; Design and Construction
Digital Object List-
محتواي کتاب - view
Bookmark