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<p>In contrast to traditional designs that place actuators within the body, which makes replacement a demanding task, ZTUNA features a fully modular structure where each subsystem can be easily detached, reattached, and replaced for maintenance or reconfiguration. The fish consists of four independently designed modules: the head, middle, pectoral fins, and tail. These modules were developed with waterproofing and hydrodynamic behavior in mind. ZTUNA employs bio-inspired kinematics in the design of the pectoral fins and tail, enabling 3D maneuvers, and a buoyancy engine situated in its middle section to control depth. It operates in two swimming modes: a biomimetic swimming mode, which utilizes only the tail, and a faster pectoral-tail mode, achieving a maximum forward velocity of 14.6&#xa0;cm/s and a vertical ascent rate of 6.31&#xa0;cm/s. The motion analysis of the tail oscillations reveals a close similarity to that of real fish, demonstrating that the modularity of the design can be achieved without compromising its effectiveness.</p>

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ZTUNA modular bionic fish design and manufacturing

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年1月27日

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  • Mohamed Hamoud,
  • Mohamed A. Elwahsh,
  • Karim I. Sadek,
  • Nesma K. Shaaban,
  • Mohamed M. Nooreldeen,
  • Ahmed N. Donia,
  • Seif A. Alsayed,
  • Omar A. Mohamed,
  • Amir K. Shaker,
  • Hazem A. Sayed,
  • Ahmed M. Hamza,
  • Hany A. Elesawy,
  • Irene S. Fahim,
  • Ahmed G. Radwan

摘要

In contrast to traditional designs that place actuators within the body, which makes replacement a demanding task, ZTUNA features a fully modular structure where each subsystem can be easily detached, reattached, and replaced for maintenance or reconfiguration. The fish consists of four independently designed modules: the head, middle, pectoral fins, and tail. These modules were developed with waterproofing and hydrodynamic behavior in mind. ZTUNA employs bio-inspired kinematics in the design of the pectoral fins and tail, enabling 3D maneuvers, and a buoyancy engine situated in its middle section to control depth. It operates in two swimming modes: a biomimetic swimming mode, which utilizes only the tail, and a faster pectoral-tail mode, achieving a maximum forward velocity of 14.6 cm/s and a vertical ascent rate of 6.31 cm/s. The motion analysis of the tail oscillations reveals a close similarity to that of real fish, demonstrating that the modularity of the design can be achieved without compromising its effectiveness.