1-DOF Beam-Driven Bionic Robotic Fish

Currently, the prevailing methods to design and manufacture fish-like robots focused on articulated way with multi-degree-of-freedom structure. For increasing the reliability and reducing the cost of manufacturing and controlling, a 1-DOF beam-driven bionic robotic fish was designed and tested in this paper. It took advantages of the comparability between the oscillation of an underwater cantilever beam actuated by a dynamic concentrated force and the undulation of a swimming crucian carp. The control system was designed based on DSP, and the bionic control data was obtained from the swimming curves of real crucian carp by image processing method of morphological figures. Experiments showed that the robotic fish could swim at different velocities and turn at different radius with great maneuverability and stability.