Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish | Zendy

M. Afolayan | Zendy; Danjuma Saleh Yawas | Zendy; C. O. Folayan | Zendy; S.Y. Aku | Zendy

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Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish

Author(s) -

M. Afolayan,

Danjuma Saleh Yawas,

C. O. Folayan,

S.Y. Aku

Publication year - 2012

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2012/826364

Subject(s) - mechanism (biology) , peduncle (anatomy) , computer science , robot , fish <actinopterygii> , softening , joint (building) , natural rubber , turning radius , biomimetics , radius , simulation , materials science , marine engineering , structural engineering , mechanical engineering , composite material , artificial intelligence , physics , biology , fishery , anatomy , engineering , quantum mechanics , computer security

A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved

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