Design and optimization of Caudal fin for robotic fish driven by crank-slotted slider and lever mechanism

Abstract

To explore the seabed as well as the depth, to perform the various tasks in an underwater environment, to study the behavior of aquatic animals many researchers and scientists have developed underwater autonomous vehicles using different techniques. After going through all the robotic fishes developed in the last decade, we have developed a novel way and technique to enhance the speed of the robotic fishes under a certain range (30-40cm) of robotic body length. A crank-slotted slider and lever mechanism-based mechanism and fin have been designed to produce a forward thrust up to 25gmf. In the above system, the rotational motion produced by the DC motor is translated to oscillatory motion using a crank-slotted slider mechanism. The mechanical advantage is enhanced by the use of a certain length of the lever. Finally, for the given system a mathematical fin formula is introduced, tested, and implemented.