Kinematics of machine components – MDPS251

Project Phase (1) Submission

Submitted to: Dr. Bassam Hussein

Name ID
Toka Mohamed Salah El Din Mohamed 1210049
Menna Tullah Medhat Abdelrazik Aly 1210031
Abdelrahman Tamer Hanafy Mahmoud 1210367
Hisham Haytham Zaki 1200305
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Mechanism:
Tail Peduncle & Caudal Fin of a Tuna-Mimetic Robot

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Mechanism function:
The mechanism generates an undulatory motion by its tail peduncle and caudal
fish, inspired by a tuna fish, which results in the swimming motion of the robot.
The robot is used as a replacement for humans in undersea operations, oceanic
supervision, aquatic life-form observation, pollution search, and military detection.
(Masoomi, Gutschmidt, Chen, & Sellier, 2015)

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References
Masoomi, S. F., Gutschmidt, S., Chen, X., & Sellier, M. (2015). The Kinematics and Dynamics of
Undulatory Motion of a Tuna-mimetic Robot. International Journal of Advanced Robotic
Systems.

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