Shark

built by David Mitchell

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Target Environment Locomotion Method
Underwater Fin movement
Sensors / Input Devices Actuators / Output Devices
2 photo-detectors R/C servo
Control Method Power Source
Tethered via tether
CPU Type Operating System
None None
Programming Lanuage Weight
None N/A
Time to build Cost to build
N/A N/A
URL for more information
N/A
Comments
This robot shark is not strickly autonomous, the black box attached to via the umbilical cable provided the power and most of the electronics (555s mainly). The Shark has a rotary solenoid which flips the tail back and forth, an elastic band providing the return. The two front ventral fins are driven via a cable linkage to a gutted R/C servo in the dorsal fin, the fins return also being facilitated by a elastic band. The only sensors were two plastic fibre optics which carried light to two motorola photo-detectors in the dorsal fin. The dorsal fin being the only sealed compartment. This dorsal fin provides the shark with bouyancy and leaves some of the dorsal fin out of the water, where the rest of the shark is submerged. Some styro foam was added internally to get the shark to 'sit' right in the water. How did it swim? Well the problem is that the solenoid gives a good stroke but the elastic band is weak, make the elastic band stronger and it robs the power of the stroke, so it swims in circles. The ventral fins could not counteract this, but you could swim in a tighter or wider circle by adjusting the fins (like ailerons). Originally it was mean't to be a light seeking aquatic robot, but because of the poor swimming performance I stopped there and didn't add the light seeking ability. DM

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