Design considerations for a robotic flying fish

摘要

This paper details an exploration into the design of an aerial-aquatic robotic vessel. A compact robot that could both swim underwater and glide in the air above water has many potential applications in ocean exploration and mapping, surveillance, and forecasting. In the first phase of this project, we focus on mechanical design concepts that would enable the biomimetic production of adequate thrust underwater. A brief review of precedent research concerning robotic fish and hydrodynamics is first presented, followed by an in-depth analysis of the mathematical theory relevant to the project. A passive model of a flying fish was constructed and launched from approximately 1 ft. underwater to determine the forces associated with overcoming drag underwater and exiting the water. Based on this, A number of conceptual designs which would produce the motion necessary for propulsion were formulated and are discussed from a mechanical design perspective. Various conventional and non-conventional actuators are reviewed, as well as a control scheme for the concepts presented. We end with a discussion of the future directions for this project, as well as the key challenges that remain to be addressed.