Mohamad Hosein Salimi - M.S Student, Tehran University
Mostafa Karimian - Graduated Student, Tehran University;

In this paper the Tuna fish robot that inspired by nature based on the Carangiform model is studied. The kinematical and dynamical optimizations are presented. In the kinematical optimization, propulsion mechanisms, the numbers of the active degrees of freedom, rigidity of the tail and link length ratio are optimized. To optimize links, genetic algorithm is used. In the dynamical optimization, due to the limitations of multiple tests, the theory of Mr. Lighthill is used. This theory is validated by experimental testing. Next, the impact of the Strouhal number on the efficiency is studied. Finally two approaches are presented which can increase the efficiency.

Optimization, Genetic algorithm, The Tuna fish robot, Strouhal Number, The tail rigidity