Bionic Fish仿生鱼
Course project — biologically-inspired underwater swimmer with built prototype.课程项目 — 仿生水下游动机器人，含完整实物样机。
OpenFish 2.0 (ISDN2400, Feb – May 2025): a swordfish-inspired robotic fish with a 1 : 1.2 body-to-tail ratio drawn from biological data. Our group replaced the original gear drive with a pull-cord servo mechanism to eliminate slippage and fishing-line tangling.
The compliant tail uses six 15 mm-spaced ribs in graded-perforation 1.8 mm PETG under a 2 mm silicone skin, driven by a NANGU 20 kg servo. Power is dual 2000 mAh LiPo (a single cell couldn’t sustain servo current), with dual-ESP32 + Blynk control for WiFi-dropout recovery, and a 45° chamfer + O-ring waterproof head.
OpenFish 2.0（ISDN2400，2025.02 – 05）：一款受剑鱼启发的仿生机器鱼，依据生物数据取 1 : 1.2 的身尾比例。我们小组将原始齿轮传动改为拉线舵机机构，消除打滑与鱼线缠绕问题。
柔顺尾部采用 六根 15 mm 间距肋条，以梯度打孔的 1.8 mm PETG 制成、外覆 2 mm 硅胶，由 NANGU 20 kg 舵机驱动。电源为双 2000 mAh 锂电（单电池无法维持舵机电流），控制采用 双 ESP32 + Blynk 以应对 WiFi 掉线，机头为 45° 倒角 + O 形圈防水。
