Rancang Bangun Prototipe Robot Ikan Biomimetik Aspek: Gerak Sirip Ekor

Abstract

Biomimetic fish robot has been explored and developed worldwide for several purpose, including marine surveillance and monitoring. A Carangiform fish robot mimicking Caranx ignobilis, named CI-G3, was constructed and it’s caudal fin movement was analyzed in this study. Fish robot CI-G3 had a dimension of 45 cm length, 10 cm width, and 18 cm height. Materials used were three servos for actuator, one Arduino UNO R3 for microcontroller kit, three infrared sensors and photodiodes, and one DC motor. CI-G3 had three joints and links, wich was ideal to mimic natural maneuver of Carangiform’s body caudal fin movement. During maneuvering, joint 1 of CI-G3 fish robot flexed at 30° that followed by joint 2 at 40° and joint 3 at 45°. Weight force of 1,5 N in posterior and buoyancy forces of 1,54 N in anterior part of the fish robot CI-G3 was required to position CI-G3 at natural buoyancy. Center of Gravity was created by 20 grams load and one DC motor. It used to adjust buoyancy of CI-G3 to change the position into a neutral, dive, and resurface position. Center of Gravity’s DC motor was needed 0,2 seconds to move the load into an angle of 90° to the vertical line. Caudal fin motion analysis showed that we need = 0,89, = -0,19 and = 0,56 Hz to make natural motion. CI-G3 fish robot was needed 1,8 seconds to make one wave undulation.