OpenFish

OpenFish is a soft robotic fish optimized for speed after multiple design and prototyping iterations. It is made open source with the intention of serving as an inspiration for future developments. Further improvements are certainly possible and much needed especially regarding durability. For more information on the design, fabrication, and performance of the fish, please refer to our paper: "OpenFish: Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion" (https://arxiv.org/abs/2108.12285) Overview of off-the-shelf components in the gearbox assembly: - 9.7:1 metal gearmotor 25Dx48L mm HP 12V motor - 4x4mm motorshaft coupling - gear 20T M0.5 - 2x delrin spur gear M0.5 50T - 2L-gearbox Huco 323.31.2 - 6x flat teflon washer M5 - 3x spacer nut - 2x push rod connector - bearing - adhesive weights - steel braided fishing line Files for silicone casting: - Roboti_fish_proto - skin-1.STL Files for lasercutting: - Roboti_fish_proto - lasercut_pushrod_connector_plate-1.STL - Roboti_fish_proto - lasercut_pushrod_connector_plate-2.STL - Roboti_fish_proto - lasercut_tail_sheets-1.STL - Roboti_fish_proto - nitril_rubber_seal-1.STL - Roboti_fish_proto - flatter_topholder-1.STL - Roboti_fish_proto - flatter_topholder-2.STL Files for Fused Deposition Modeling (FDM, all PLA): - Roboti_fish_proto - top_head_hole_m8-1.STL - Roboti_fish_proto - bottomhead_longer-2.STL - Roboti_fish_proto - firstrib-1.STL - Roboti_fish_proto - middle_rib2-1.STL - Roboti_fish_proto - middle_rib3-1.STL - Roboti_fish_proto - lastrib-1.STL - Roboti_fish_proto - Gear_assembly_mount-2.STL - Roboti_fish_proto - motor_mount-1.STL - Roboti_fish_proto - side_fins-1.STL - Roboti_fish_proto - tail_L-1.STL - Roboti_fish_proto - top_fins-1.STL - Roboti_fish_proto - bearing_mount-1.STL