Abstract
We have taken much interest in the highly efficient propulsion of fish and attempt to apply the mechanism of fish-like swimming to the underwater robot. The author examined to adopt a semi-free-piston Stirling engine (SFPSE) for the power source of a fish robot. One of characteristics of the SFPSE is that the output power can be obtained directly from the reciprocating motion of a power piston. In the case of a fish robot, it is the best way that the reciprocating piston drives the oscillating tail fin directly. A great deal of mechanical frictional loss can thus be reduced. This mechanism should result in high potential for efficiency. In this paper, the performance of a simple experimental SFPSE - tail fin system was examined experimentally. Also swimming speed of a fish-like mechanism with the engine was discussed.
