Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 39 | A Morphable Bionic Robotic Fish with Dual-Mode Propulsion Enabled by a Transformable Caudal Mechanism |
Bowen Zhang Kaijun Zheng Libin Wang Xuanyu Ke |
Hua Chen | ||
| # Problem Most existing underwater robotic fish rely on only one propulsion method, which limits their adaptability across different tasks and environments. Bioinspired tail propulsion is typically smooth, quiet, and energy-efficient, making it well suited for steady swimming and maneuvering. In contrast, propeller-based propulsion can provide higher speed, faster acceleration, and stronger turning capability. However, integrating both propulsion methods into a compact robotic fish remains technically challenging, since the tail structure, actuation mechanisms, and control strategies often impose conflicting design requirements. Therefore, there is a need for a transformable underwater robotic platform that can switch between different propulsion modes and better adapt to diverse operational scenarios. # Solution Overview Our project aims to develop a transformable underwater robotic fish capable of multi-mode propulsion. The system integrates a waterproof electronic enclosure, a bioinspired tail-swing actuation mechanism, and a caudal-fin-to-propeller morphing structure within a compact robotic body. In one mode, a servo-driven tail produces periodic left-right oscillations to achieve fish-like swimming behavior with smooth and efficient motion. In the other mode, the rear-end transformation mechanism re-configures the caudal fin into a propeller structure driven by a brushless motor to generate higher thrust for rapid movement. A manual control system is used to command both locomotion and propulsion mode switching. Through this design, the robotic fish provides a promising platform for studying adaptive underwater locomotion in different environments. # Solution Components ## Waterproof Electronic Enclosure Subsystem - A waterproof shell used to protect internal components from water ingress during underwater operation. - An embedded control PCB used to coordinate sensing, actuation, and system-level control. - A battery module used to provide onboard power for the robotic fish. - An IMU used to measure motion state and orientation during swimming. - Electrical and communication interfaces used for subsystem integration and testing. ## Bioinspired Robotic Fish Tail-Swing Actuation Subsystem - A set of 3D-printed mechanical structural components designed to support the tail-swing motion. - Servos used to drive the oscillatory motion of the robotic tail for bionic propulsion. ## Caudal Fin-to-Propeller Morphing Subsystem 3D-printed fin-like components designed to support both fin and propeller configurations. - A morphing mechanism used to transform the caudal fin into a propeller-based propulsion structure. - A brushless motor used to drive rotational thrust in propeller mode. ## Manual Control System - A controller used to manually command the robotic fish’s movement and switch between propulsion modes. # Criteria of Success The project will be considered successful based on the following criteria. ## Stable Underwater Locomotion The robotic fish must be able to perform basic underwater locomotion, including stable forward swimming and directional steering in a water environment. ## Reliable Mode Transformation The tail transformation mechanism must successfully switch between the bionic flapping mode and the propeller propulsion mode while submerged, and the structure must remain stable and mechanically reliable throughout the transition. Also, both propulsion modes can operate normally. ## Data Acquisition and Evaluation The system must be capable of collecting key operational data so that the performance of the two propulsion modes can be evaluated and compared. # Members and Work Distribution - Zhang, Bowen (ME): Mechanical design and assembly - Ke, Xuanyu (ME): Mechanical design and assembly - Zheng, Kaijun (EE): Electronic system design and testing - Wang, Libin (ECE): Control algorithm development and system programming |
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