Energy Efficiency Study of an Ostraciiform Fish Robot

The ostraciiform swimming mode utilizes the caudal fin flapping to achieve piscine propulsion with turning maneuverability. Mechanism can be mimicked and implemented in underwater vehicles and it is necessary to know the energy efficiency of this swimming mode for durability consideration. Present study consists the energy efficiency of a servomotor actuated ostraciiform fish robot through power measurements. The power consumption of actuator (servomotor) was measured directly through an electronic circuit. Power dissipation in hydrodynamic drag during swimming was obtained indirectly from the swimming velocity. Different flapping frequency and amplitude settings were applied to explore the relationship between the flapping condition and efficiency.