CarbonFish -- A Bistable Underactuated Compliant Fish Robot capable of High Frequency Undulation

TL;DR

This paper introduces CarbonFish, a novel bistable compliant fish robot made from CFRP, capable of high-frequency undulation around 10 Hz, promising enhanced aquatic locomotion.

Contribution

It demonstrates the feasibility of using CFRP in a bistable mechanism for high-frequency undulatory fish robots, with detailed design and initial performance evaluation.

Findings

Achieved undulation frequency close to 10 Hz

CarbonFish outperforms some biological and robotic aquatic entities

Proves CFRP as a viable material for high-frequency soft robotics

Abstract

The Hair Clip Mechanism HCM represents an innovative in plane prestressed bistable mechanism, as delineated in our preceding studies, devised to augment the functional prowess of soft robotics. When juxtaposed with conventional soft and compliant robotic systems, HCMs exhibit pronounced rigidity, augmented mobility, reproducible repeatability, and an effective design and fabrication paradigm. In this research, we investigate the feasibility of utilizing carbon fiber reinforced plastic CFRP as the foundational material for an HCM based fish robot, herein referred to as CarbonFish. Our objective centers on realizing high frequency undulatory motion, thereby laying the groundwork for accelerated aquatic locomotion in subsequent models. We proffer an exhaustive design and fabrication schema underpinned by mathematical principles. Preliminary evaluations of our single actuated CarbonFish have evidenced an undulation frequency approaching 10 Hz, suggesting its potential to outperform other biologically inspired aquatic entities as well as real fish.