project specification

BionicFinWave

An underwater robot with unique fin drive. The BionicFinWave manoeuvres through undulating fin movement, and is able to communicate with the outside world wirelessly and transmit data – such as the recorded sensor values for temperature and pressure – to a tablet. The robot uses its two side fins to move along. They are completely cast from silicone and do without struts or other support elements. This makes them flexible and able to implement the fluid wave movements of their biological role models true to nature.

Specifications

Length 370 mm
Height50 mm
Width190 mm
Weight 430 mm
Manufacturing technique 3D printing SLS & DLP
Processor ARM Cortex M4 based STM32F4
Radio Module JNtec
Servo motors 3 X Savox SH 264 MG
Inertial sensor system Bosch Sensortec BN005 (9 axes)
Pressure sensor MS5837

Overview

The BionicFinWave  manoeuvres through undulating fin movementand is able to communicate with the outside world wirelessly and transmit data – such as the recorded sensor values for temperature and pressure – to a tablet.

The robot uses its two side fins to move along. They are completely cast from silicone and do without struts or other support elements. This makes them flexible and able to implement the fluid wave movements of their biological role models true to nature.

Tthe two fins on the left and right are each fastened to nine small lever arms. These in turn are driven by two servo motors located in the body of the underwater robot. Two attached crankshafts transfer the force to the levers in such a way that the two fins can move individually. They can thereby generate different wave patterns, which are particularly suitable for a slow and precise movement and whirl up water less than a conventional screw drive does.

A third servo motor on the head of the BionicFinWave controls the flexure of the body, which helps it to swim up and down. So that the crankshafts are suitably flexible and supple, a cardan joint is fitted between each lever segment. For this purpose the crankshafts including the joints and the connecting rod were made out of a single piece of plastic with the 3D printing method.

References

Folder which describes the background of the project, the team and the specifications.

Festo.

Wevolver 2022