Design and development of autonomous biomimetic blacktip shark

• Main Author: Wong, Wei Loong
• Format: Thesis
• Language: English; English
• Published: 2016
• Subjects: QP501-801 Animal biochemistry
• Online Access: https://eprints.ums.edu.my/id/eprint/39373/1/24%20PAGES.pdf; https://eprints.ums.edu.my/id/eprint/39373/2/FULLTEXT.pdf; https://eprints.ums.edu.my/id/eprint/39373/
• Institution: Universiti Malaysia Sabah

The aim of this project is to design a biomimetic swimming device using a single actuator with a compliance body for locomotion in a liquid environment with basic autonomous manoeuvrability. The biological Blacktip shark is being utilized as the reference model. The working concept of the biomimetic robotic fish is based on a single non-uniform cantilever beam in fluid environment. The kinematic model and kinetic model approach has been utilized to develop the theoretical model by trajectory approximation theory and beam theory for estimating the robotic fish swimming performance. The theoretical model has shown to be comparatively close in estimating the measured result particularly in the prototype design parameter. The experimental result found that the prototype optimum tail beat frequency is 2 Hz at optimum actuation amplitude of 80 deg has been achieved for the prototype design parameters. The prototype is also able to be controlled manually for performing basic manoeuvrability (swim forward, yaw left and yaw right). A basic autonomous detect and avoid of obstacles in underwater environment with basic manoeuvrability have also been developed.