A novel actuation for a robotic fish using a flexible joint

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This paper presents a novel actuation mechanism to enable the span-wise undulating motion of the caudal fin of a robotic fish. To minimize the mechanical components such as cams, pulleys and gears, a flexible joint-based wave machine mechanism is adopted to generate the waving motion of the caudal fin. In particular, the proposed mechanism has the advantages of minimum total weight and few mechanical components because of its simplicity. Through analysis and experiments, the efficacy of the proposed mechanism is validated.
Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Issue Date
2014-08
Language
English
Article Type
Article
Keywords

PROPULSION; LOCOMOTION; FOIL; KINEMATICS; DRIVEN; FINS

Citation

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.12, no.4, pp.878 - 885

ISSN
1598-6446
DOI
10.1007/s12555-013-0399-8
URI
http://hdl.handle.net/10203/190042
Appears in Collection
ME-Journal Papers(저널논문)
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