Design and Control of 3-DOF Robotic Fish 'ICHTHUS V5.5'

摘要

Recently, many kinds of biomimetic fish-like robots are being actively researched worldwide for practical use of them. However, there are still diverse problems about using of the robotic fish in the real environment such as in the river for monitoring water pollution. Therefore, this study mainly describes development of a robotic fish 'Ichthus V5.5' which can be used for water quality sensing system. The robotic fish 'Ichthus V5.5' has a 3-DOF serial link-mechanism for its propulsion, which is developed in KITECH. We added several sensors to navigate autonomously in the real environment like river. To measure the performance of the robotic fish, an experimental setup is developed for measuring the propulsion force of the robot. Also, we installed two kinds of sensor to detect temperature, electric conductivity, pH (hydrogen ion concentration) of water. Therefore, the developed robotic system can be applied to environmental monitoring system for detect pollution or quality of river.