ETD

Digital archive of theses discussed at the University of Pisa

 

Thesis etd-09182020-151447


Thesis type
Tesi di laurea magistrale
Author
WAHI, AKSHAT
URN
etd-09182020-151447
Thesis title
Design and development of a modular biomimetic robotic fish
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
BIONICS ENGINEERING
Supervisors
relatore Prof. Dario, Paolo
relatore Prof. Stefanini, Cesare
relatore Dott. Romano, Donato
Keywords
  • Robotic Fish
  • Bionics
  • Biorobotics
  • Biomimetics
  • Underwater Robotics
  • Aquatic Ecology
  • Underactuation.
Graduation session start date
09/10/2020
Availability
Withheld
Release date
09/10/2023
Summary
The idea was to develop a biomimetic fish research platform, that is modular, easily manufactured and can be extended or modified to adapt various needs of the research under consideration. The envisioned system was realised through careful modeling and iterative design approach to optimize for rapid manufacturing technique. The manufacturing technique used was Fused deposition modeling (FDM) based 3D printing, which is the most widespread and least expensive technique to develop plastic parts. The heart of the system is the non-blocking transmission system which employs magnetic field interaction of permanent magnets. It converts the rotary motion of the motor into a oscillatory motion. This oscillating system along with the wire-driven mechanism of the tail, generates the required traveling wave in the robotic fish. A complete swimming robotic fish measuring 180 mm in length was developed which was able to maintain the correct posture and neutral buoyancy in water. Multiple experiments were conducted to test the performance of the designed robotic fish.
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