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"Dry Land" Fish Robot, Prototype PPF-02

December 27, 1998 by Koichi Hirata



The Pre-Prototype Fish Robot, PPF-02 moves a tail peduncle and tail fin with two pulse motors. This fish robot cannot swim in the water, because there is not waterproofed for the motors and controllers.

A feature of the PPF-02 is shown in the right photographs. In the left photograph, the tail peduncle is moved by the left crank mechanism, and the tail fin is moved by the right crank mechanism.

Targets of the manufacturing the PPF-02 are;
(1) Confirmation of the pulse motor motion,
(2) Discussion of the problems caused by the pulse motor motion.

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