J0205-3-4 Analysis of Swimming Ability of Blue Fin and Its Application to the Robot : Design of Fish robot

Abstract

The swimming motion of Tuna type fishes has excellent ability for its speed and efficiency. In the former study, propulsive force of tale fin is estimated from experimental data of lift and drag force by using 1/1 scale tale fin model. Additionally, drag force of tuna body is also measured by using 1/1 scale body model. This paper shows how to design the tale fin driving architecture to realize fastest swimming robot. The difference of this driving architecture is independent two motor. One drives tale fin oscillating motion, and another drives tale fin angle. So, this robot can verify the efficiency of swimming motion in preceding study and our study.