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	The Design and Prototyping of a Wire-driven Robot Fish with Pectoral Fins
	Zhong, Yong; Li, Zheng; Du, Ruxu
	2013
会议名称	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议地点	Shenzhen, PEOPLES R CHINA
英文摘要	This paper presents a wire-driven robot fish with a pair of pectoral fins. The fish tail is a wire-driven flapping caudal fin. It is made of 7 vertebras, an elastic backbone and a fin plate. The tail is actuated by two servomotors via two pairs of wires. The wires control the tail flapping like a real fish. The pectoral fin can make two Degrees-Of-Freedom (DOF) motions, i.e. flapping (roll) and feathering (pitch). The pectoral fins can be controlled to move in labriform mode for propulsion, or for other purposes such as turning and diving. Experiment results show that under the tail propulsion, the robot fish can swim up to 0.66 BL/s (Body Length / second); under the pectoral fin propulsion, the robot fish can swim up to 0.26 BL/s. The pectoral fin can significantly improve themaneuverability of the robot fish. Without the pectoral fins, the turning radius is 0.6 BL, with the help of pectoral fins, the turning radius is reduced to 0.25 BL
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/5331]
专题	深圳先进技术研究院_南沙所
作者单位	2013
推荐引用方式 GB/T 7714	Zhong, Yong,Li, Zheng,Du, Ruxu. The Design and Prototyping of a Wire-driven Robot Fish with Pectoral Fins[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Shenzhen, PEOPLES R CHINA.

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