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<p>Biomimetic robotic fish offer significant advantages in efficiency and maneuverability within confined underwater spaces. However, challenges remain in the miniaturization of robotic fish and the enhancement of their swimming speed. This work presents an electromagnetically actuated micro-robotic fish with double caudal fins, fabricated via laser micromachining of carbon fiber composites. The developed prototype weighs 1.82 g and has a body length of 2.6 cm. The electromagnetic actuator and hydrodynamic models are built to analyze the swimming behaviors of the micro-robotic fish. These models show that the thrust and swimming velocity of micro-robotic fish are directly proportional to the driving current, and they reach their maximum at an optimal driving frequency. Finally, experiments on a physical prototype of the micro-robotic fish are performed, which validated the theoretical models. During the experiments, the designed micro-robotic fish prototype generated a maximum thrust of 0.16 mN and a uniform swimming velocity of 2.04 BL/s (5.3 cm/s), which is faster than those of the previously reported micro-robotic fish.</p>

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Design and Modeling of a Fast-Swimming Electromagnetic Micro-Robotic Fish with Double Caudal Fins

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年5月4日

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  • Quanliang Zhao,
  • Yutong Wen,
  • Shiwei Ma,
  • Chao Zhang,
  • Guangping He,
  • Mengying Zhang,
  • Junjie Yuan,
  • Lei Zhao

摘要

Biomimetic robotic fish offer significant advantages in efficiency and maneuverability within confined underwater spaces. However, challenges remain in the miniaturization of robotic fish and the enhancement of their swimming speed. This work presents an electromagnetically actuated micro-robotic fish with double caudal fins, fabricated via laser micromachining of carbon fiber composites. The developed prototype weighs 1.82 g and has a body length of 2.6 cm. The electromagnetic actuator and hydrodynamic models are built to analyze the swimming behaviors of the micro-robotic fish. These models show that the thrust and swimming velocity of micro-robotic fish are directly proportional to the driving current, and they reach their maximum at an optimal driving frequency. Finally, experiments on a physical prototype of the micro-robotic fish are performed, which validated the theoretical models. During the experiments, the designed micro-robotic fish prototype generated a maximum thrust of 0.16 mN and a uniform swimming velocity of 2.04 BL/s (5.3 cm/s), which is faster than those of the previously reported micro-robotic fish.