Publication

Abstract : Researchers have been interested in and challenged by exploring water bodies such as ponds, rivers, oceans, and seas due to enormous pressure, wireless communication, robotic body design, waterproofing technology, and mechanics. Several studies have been made to resolve the above issues. In this paper, the articles published in the last decade have been critically reviewed and highlight the types of actuators, sensors, mechanisms, design, and control techniques that have been widely used. Also, different calculations and related analyses have been done, which might be helpful for researchers working on robotic fish development. Starting from the basic terminology involved, different adopted mechanisms, various types of sensors and actuators, different types of motions and forces exerted on the robotic body, and payload capacity have been analyzed and discussed in detail. The various types of turning mechanisms and mechanisms for moving up or for diving down are also discussed. While developing the robotic fish, approximately 72 % of conventional actuators and 28 % of smart material actuators are used. Among conventional actuators, approximately 50 % are servo motor type actuators, and among smart material types of actuators, approximately 11 % SMA and 9 % IPMC type actuators are used in robotic fish. Furthermore, among all mechanisms used for achieving forward thrust, approximately 37 % are servo, 20 % are four-bar, and 20 % are bimorph mechanisms. The Bimorph mechanism is used primarily in smart material-based micro-robotic fishes. The paper reveals, with a cutting-edge comparison to the most recent improvements, a detailed description of the potential application.