Modification, data acuquisition and swimming evaluation of fish type swimming platform

• Main Author: Soh, Alan Wei Zhong.
• Other Authors: Low Kin Huat
• Format: Final Year Project
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Mechanical engineering::Mechatronics
• Online Access: http://hdl.handle.net/10356/40629
• Institution: Nanyang Technological University

In recent years, the focus has been on biomimetic robots. These robots are developed based on the superiority of the animals. It is based on making use of the superior characteristics of the animals. For the project, we will be touching on fish like swimming robots which mimics the movement of the fish. Fishes have different swimming patterns and the efficiency of the swimming motion have been an area of interest to researches and developers of underwater robots. The project is conducted for the study of the swimming pattern of robotic swimming platforms and the efficiency of the different swimming patters. Through tests and experiments using different fish type swimming platforms, swimming patterns are quantified and analyzed. From the results, the relationship between the different swimming patterns and the efficiency of these different patterns will be established. 2 types of types of biomimetic robotic fishes are used for two different tests in this project. A two Degree of Freedom (DOF) body and/or caudal fin (BCF) robotic fish is used to study the adaption of the fish to unsteady flow and a multi-DOF slender robotic fish for study of the swimming efficiency of undulating fish swimming motion. NI compact RIO embedded controllers are used for the conduction of the project and the programs are developed on the LabVIEW software. Modifications are to be done to the existing fish type swimming platforms. These modifications are made in order for the real time control of the robotic fishes. During the conduction of the project, problems are encountered. The modification to the existing platforms and the problems encountered will be discussed in the report. Finally, the performance of the 2 robotic fishes is evaluated. The results are obtained from the experiment and analyzed to determine the most efficient swimming parameters of the robotic slender fish. Future works can look into further modification of the robot for ease of conduction of the project and enhancement of the performance of the robotic fishes.