Platform Design and Three-dimensional Underwater Experiment of Robotic Tuna Swimming

To achieve straight line, turn and rise and dive motion of robotic tuna, this paper proposes a valid structure and control system design and verifies the feasibility of the design through underwater tests. Linear propulsion and turning can be realized by the oscillating joints of tail peduncle and caudal fin. Rise and dive motion can be realized by the rotating joint of pectoral fin providing an angle of attack and the promoting effect generated by the caudal fin. The straight line, turn and rise and dive swimming test have been carried out using the wireless remote control module. The results show that the designed platform of robotic tuna has simple structure, low power consumption, fast response and easy to expand. Therefore, it can provide a feasible direction for new fast, efficient, low-noise design of mobile platform, and an effective way of searching for future three dimensional (3D) autonomous fish swimming.