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ZTUNA modular bionic fish design and manufacturing

Article scientifique 2026 Anglais

Résumé

Abstract In contrast to traditional designs that place actuators within the body, which makes replacement a demanding task, ZTUNA features a fully modular structure where each subsystem can be easily detached, reattached, and replaced for maintenance or reconfiguration. The fish consists of four independently designed modules: the head, middle, pectoral fins, and tail. These modules were developed with waterproofing and hydrodynamic behavior in mind. ZTUNA employs bio-inspired kinematics in the design of the pectoral fins and tail, enabling 3D maneuvers, and a buoyancy engine situated in its middle section to control depth. It operates in two swimming modes: a biomimetic swimming mode, which utilizes only the tail, and a faster pectoral-tail mode, achieving a maximum forward velocity of 14.6 cm/s and a vertical ascent rate of 6.31 cm/s. The motion analysis of the tail oscillations reveals a close similarity to that of real fish, demonstrating that the modularity of the design can be achieved without compromising its effectiveness.

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Hamoud, M., Elwahsh, M., Sadek, K., Shaaban, N., Nooreldeen, M., Donia, A., Alsayed, S., Mohamed, O., Shaker, A., Sayed, H., Hamza, A., Elesawy, H., Fahim, I., Radwan, A. (2026). ZTUNA modular bionic fish design and manufacturing. https://doi.org/10.1007/s44245-025-00161-z

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Auteur(s)

Mohamed Hamoud Mohamed A. Elwahsh Karim I. Sadek Nesma K. Shaaban Mohamed M. Nooreldeen Ahmed N. Donia Seif A. Alsayed Omar A. Mohamed Amir K. Shaker Hazem A. Sayed Ahmed M. Hamza Hany A. Elesawy Irene S. Fahim Ahmed G. Radwan

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