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Dorsal fin interaction analysis of a bioinspired surfperche robot

Abstract:

Marine species such as fish have a morphology that has been adapted over time to reduce resistance in underwater displacement as well as staying submerged, therefore the present research focuses on the study of the bluebird fish robot, under four parameters of analysis, hydrodynamics, hydrostatics, kinematics and dynamics, to submerge the robot in the Amazonian rivers where the habitat of this species is found, there is in the future to monitor underwater life. A dorsal fin of 2 degrees of freedom was designed an built using a 3D printer, the rigid fin was driven by a servomotor and control system, all of them were waterproofed, the body can stay underwater near to zero buoyancy with tendency to submerge, the reaction of the movement of the dorsal fin and the reaction of the robot displacement was determined via some tests.