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Journal of Robotics
Volume 2012 (2012), Article ID 826364, 16 pages
Research Article

Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish

Mechanical Engineering Department, Ahmadu Bello University, Samaru, Kaduna, P.O. Box 504, Zaria, Nigeria

Received 24 October 2011; Revised 5 January 2012; Accepted 30 January 2012

Academic Editor: Shugen Ma

Copyright © 2012 M. O. Afolayan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved.