Biomedical Engineering Reference
In-Depth Information
FIGURE 9.8
A designed and fabricated undulating shark caudal fin actuator.
FIGURE 9.9
ERI's biomimetic fish with an emarginated type of caudal fin design
.
Actual electrically controllable caudal actuator fins (propulsion, and gross turn-
ing and maneuvering) and pectoral actuator fins (fine turning and maneuvering) and
remotely controllable stealthy, noiseless, biomimetic swimming robotic fish made
with IPMNCs were designed, manufactured, and tested. Some of these are shown
next. It is also important to consider the optimal design of fish fin actuators such as
the ones shown in figures 9.8 and 9.9. The strategy here is to design different kinds
of fins for noiseless fish propulsion. Note that there are five different kinds of fins:
caudal or tail fin, which is primarily used for propulsion
dorsal or back fin used for sudden turns and stability
pectoral fins (paired) on the sides of a fish, primarily used for turning and stability
pelvic fins (paired) on the sides, primarily used for braking or slowing down
the propulsion
anal fin under the fish, near the belly and the tail, to add stability
