Robotic Fish Tail

This project focused on building a robotic fish tail designed to mimic the efficient movement of fish. My role centered on mechanical redesign, system integration, and control development for the fin mechanism. I redesigned the model in SolidWorks to improve spatial layout and increase angular motion range, using FEA simulations to ensure structural strength for underwater operation.

The design was validated through physical prototyping and 3D fit assessments, achieving tilt angles close to 30 degrees. A critical servo linkage issue was resolved through collaborative redesign, improving system reliability. I integrated a high-torque actuator (Cubemars AK60-6) and developed control software using Arduino and MATLAB. This software converted desired movement paths into motor commands, enabling the fish tail to execute realistic, programmable fin movements, laying the groundwork for future implementation of machine learning-based trajectory optimization.