Titchener 1

Puffer Fish Cam/Linkage Design Study

Report by Paul Titchener
ENGR 3390 Mechanical Design
Alex Crease, David Pudlo, Eric Schneider, Amanda Sutherland, Paul Titchener

Figure 1: Full System Rendering

Titchener 2

Table of Contents
I.

Executive Summary ............................................................................................................................... 3

II.

Structure ............................................................................................................................................... 4
A)

III.

Overall Structure ............................................................................................................................... 4

Transmission ..................................................................................................................................... 5

A)

Left Pectoral Fin Designed by Eric Schneider ................................................................................. 5

B)

Right Pectoral Designed by David Pudlo ........................................................................................ 7

C)

Shifting Weight Assembly Designed by Amanda Sutherland ......................................................... 8

D)

Dorsal and Anal fin assembly Designed by Alex Crease ................................................................. 8

E)

Tail Assembly Designed by Paul Titchener ................................................................................... 10

IV.

Power .............................................................................................................................................. 12

Table of Figures
Figure 1: Full System Rendering.................................................................................................................... 1
Figure 2: Full Fish .......................................................................................................................................... 3
Figure 3: Base Structure ................................................................................................................................ 4
Figure 4: Full Fish Skeleton ........................................................................................................................... 4
Figure 5: Fish with Body Panels .................................................................................................................... 5
Figure 6: Full Structure with Skin .................................................................................................................. 5
Figure 7: Left Pectoral Fin ............................................................................................................................. 5
Figure 8: In Phase Crank and Rocker............................................................................................................. 6
Figure 9: Out of phase crank and rocker....................................................................................................... 6
Figure 10: Phase shift mechanism. ............................................................................................................... 6
Figure 11: Right Fin Cam ............................................................................................................................... 7
Figure 12: Weight Translation System .......................................................................................................... 8
Figure 13: Anal and Dorsal Fins ..................................................................................................................... 9
Figure 14: Tail Assembly ............................................................................................................................. 10
Figure 15: Tail Linkage without structure Plates......................................................................................... 10
Figure 16: Side view of mechanism. Cams are stacked vertically. .............................................................. 11

Titchener 3

I.

Executive Summary

The purpose of this study was to design transmission systems for a biomimetic sea creature, in this
case a puffer fish. We designed four linkage systems in order to mimic the pectoral fins, dorsal fin, anal
fin and tail of a puffer fish. Additionally, we used a linkage system to move a mass in the bottom of our
fish so that we could change the center of mass and therefore drive our fish upwards or downwards in
the water.
The fins are designed using various structures:
1. The first pectoral fin is designed using a series of three cams that push on rocker bars.
2. The second pectoral fin has two cams pushing on rocker bars. The bars will rock either in phase
with each other or out of phase with each other depending on the direction that the input shaft
is spun.
3. The bottom weight is driven with a slot slider crank linkage.
4. The anal and dorsal fins are linked together so that they move in sync with each other. These are
driven by a pair of slot slider cranks attached to rocker bars.
5. The tail is driven with a combination of cams connected to each other with four bar linkages.
Given that the purpose of this study was to design a system using only cams and linkages, this
system fits requirements well. The motion of all of our various components is as desired. However, it is
unlikely that we would design several of these systems in the same way if other mechanisms were
available to us. For example, the tail system simulation appears to work well, but it is likely that the
system would have so much friction in it that it would not function as well in a real world setting. It is
also significantly more complex than it needs to be. Similarly, the weight linkage could be driven in a
much simpler manner with a gear train, but a linkage is used for the purpose of this study.

Figure 2: Full Fish

Titchener 4

II.

Structure

A) Overall Structure
The backbone of the fish is constructed using a baseplate that extends from the head to the
beginning of the tail. Laser cut plastic ribs extend downward and attach to the electronics box. The ribs
provide stiffness vertically and the baseplate holds everything together along the length of the fish.

Figure 3: Base Structure

The electronics box fits into the round spaces in the ribs and provides additional stiffness. Delrin cones
are attached to the front and the back and mount to the tail and the nose sensors. Weights are
positioned along the bottom to ensure that the fish is neutrally buoyant and that the center of mass is
directly below the center of buoyancy.

Figure 4: Full Fish Skeleton

Titchener 5
This assembly is then covered with body panels that support a flexible silicone skin. This skin can
be inflated such that the fish rises rapidly to the surface.

Figure 5: Fish with Body Panels

III.

Figure 6: Full Structure with Skin

Transmission

A) Left Pectoral Fin Designed by Eric Schneider

Figure 7: Left Pectoral Fin

The left pectoral fin was designed using a crank and rocker system. Power is applied at the
lower, large gear. The identical crank and rocker four bar linkages at the top and bottom wave the fin
points back and forth. In the final assembly a fin shaped covering would be attached to the ends of the
linkage. Additionally, the top and bottom parts of the fin can either oscillate with each other, or 180

Titchener 6
degrees out of phase. This is accomplished with a controlled backlash mechanism in the bottom of the
assembly. The model differential shows a possible different way of doing this using multiple power
inputs. However, when we started this we did not realize how much gearbox design this would entail
and have left the detailed design of the system for the gearbox design study.

Figure 8: In Phase Crank and Rocker

Figure 9: Out of phase crank and rocker.

The backlash mechanism makes the shafts phase shift about 180 degrees every time that the direction
of the shaft is changed. Therefore, it changes out of phase, and then changes back in phase when
direction is reversed again.

Figure 10: Phase shift mechanism.

The force output of this transmission is determined by the gear ratio into the crank and rocker linkages
and the ratio between the driving link and the rocking link of the crank and rocker joint. When the ratio

Titchener 7
of the driving link to the crank link is low, the force output will be high, but the amplitude of the motion
will be lower. When the ratio is large, force output is lower but the amplitude of the motion is larger.

B) Right Pectoral Designed by David Pudlo

Figure 11: Right Fin Cam

The right fin is built using three cams fixed to the same shaft against three rocker bars. The cams turn
and in response the bars rock back and forth in a wiggling motion of a fin. The mounting box is made
from sheetmetal and shafts are fixed into it via bearings and retaining rings.
The force output of this transmission is determined by the diameter of the cams, and the location of the
pivot point on the following link. Small cams and a large ratio between the cam half of the linkage and
the output half will produce low amplitude, high force motion. When the ratio is reversed, the
transmission will produce high amplitude, low force motion.

Titchener 8

C) Shifting Weight Assembly Designed by Amanda Sutherland

Figure 12: Weight Translation System

The center of mass of the fish is set by weights at the bottom of the assembly. We decided that we
wanted to be able to shift these weights back and forth, since that would allow our fish to climb or
descend, depending on how the weights are set. This goal was accomplished through the use of a
linkage that pulls weights forwards and backwards using a crank. The weights are fixed to shafts that
slide in and out linearly on the main skeleton of the fish. When the crank attached to the motor turns
the weights are pulled towards the front of the fish if it wants to dive or the rear of the fish if it wants to
climb.
The force produced by this transmission is determined by the length of the link that is attached to the
servo. A large link will produce high amplitude low force motion and a short link will produce low
amplitude high force motion.

D) Dorsal and Anal fin assembly Designed by Alex Crease

The dorsal and anal fins were intended to move together at all times. Therefore they are driven by
the same linkage. It is a slot slider crank driving a four bar linkage. The top and bottom are driven
together and also move in a traveling wave. This wave is accomplished by the use of a crankshaft with
two cranks that are 180 degrees out of phase. The slot slider cranks move back and forth in a guide
attached to the rear of the fish structure. The fins pivot on the top and bottom of the same structure.

Titchener 9

Figure 13: Anal and Dorsal Fins

The force output of this transmission is determined by the size of the cam driving the scotch yoke, and
the ratio between the driven and loaded halves of the levers on the top and bottom. The smaller the
crank is, the higher the force output and the lower the amplitude of the oscillation is. If the ratio
between the driven half of the lever and the loaded half is high, it will produce high force low amplitude
motion and vice versa.

Titchener 10

E) Tail Assembly Designed by Paul Titchener

Figure 14: Tail Assembly

The function of the tail assembly is the turn the tail such that it forms a curve over the entire length
of the tail, rather than simply pivoting at a single point. The linkage is built out of cams that are attached
through four bar linkages.

Figure 15: Tail Linkage without structure Plates

Titchener 11
The cams push on plates above the pivot points of the plates, causing them to pivot. This pulls back
on the next cam in the line, causing the next plate to be pushed out as well. This motion propagates
down the fin. The entire thing is driven by an additional four bar linkage powered by a servo.
Each cam is a simple circular cam with an off-center hole. They are driven by a bar that pulls on the
outer edge of the cam. When the cam turns, it pushes the plates apart, and causes the bar to pull on the
second cam, pushing the next set of plates apart and so forth.

The series of cams are stacked verticallly such that they do not interfere with each other.

Figure 16: Side view of mechanism. Cams are stacked vertically.

Titchener 12
This assembly is functional in theory, but would have significant problems if we were to actually build it.
The number of moving joints driven by a single servo is so high that it is unlikely the single servo would
be able to power it. There are also several positions in which the cam linkages move into less stable
positions that could potentially cause problems during long term operation. It might be possible to make
it run well on a lab bench, but it is unlikely to be reliable in the real world. It was designed primarily as
an exercise in cams and not as something to be built. If the system were to be built, a system with cables
and springs would likely be far more efficient.
The force output of this transmission is determined by the ratio of the size of the cams to the distance at
which driving force is applied to them. Additionally, the force at the edge of the plate varies depending
on the radius of the plate.

IV.

Power

We used the waterproof servos provided in the course folder for this exercise. While we did not run any
calculations on the amount of power required by the fins, we are reasonably certain that they will
power the smaller fins and the moving mass. However, it is unlikely that it will provide enough power to
overcome friction and stiff points in the rear linkage. This could be resolved with significant lubrication
or a larger servo. However, this was not the goal of this project, so it was left for the power design study.

PART
NUMBER

ITEM NO.

DESCRIPTION

QTY.

POOF-402

CAM MOUNT

91259A155

4-40 x .25 Shoulder Screw

91259A155

91251A232

4-40 x .125 91251A232

10

90145A437

3/32 x 7/16 Dowel Pin

POOF-408

Rear Linkage Cam

POOF-907

Hitec HS-5646WP

POOF-414

TailLinkageServoMount

POOF-415

TailLinkageCrankDriver

POOF-416

LinkageTieRod

10

92373A138

3/32x 3/16 Spring Pin

92373A138

11

POOF-417

TailCamLinkage

12

POOF-417-1

TailCam

13

POOF-417-2

TailCam

14

POOF-417-3

TailCam

15

POOF-418

RearLinkagePlate6

16

POOF-419

Rear Linkage Plate 5

17

POOF-420

RearLinkage Plate 4

18

POOF-421

Rear Linkage Plate 3

19

POOF-422

Tail Linkage Plate 2

20

POOF-423

Rear Linkage Plate 1

21

92185A194

8-32 x 0.5in 92185A194

22

90337A162

4-40 X .25" Shoulder Screw

1
A

10

21

14

10

17

8
B

20

22

19

18

NOTES:
F

1.
2.
3.
4.

13

DO NOT SCALE OFF DRAWING

DIMESNIONS APPLY AFTER FINISH

INSPECTION REPORT REQUIRED FOR ALL SPECIFIED DIMENSIONS.
REFERENCE SOLID GEOMETRY FOR ALL UNSPECIFIED DIMENSIONS. STANDARD
TOLERANCE 0.005
REFERENCE APPROPRIATE SUBASSEMBLY DRAWING

SolidWorks Student Edition.

For Academic Use Only.
1

DATE

DRAWN BY

DATE

ANGULAR: MACH () 0.5 BEND ()

CONCENTRICITY (TIR): 0.125

PROJECTION

REMOVE ALL BURRS

AND BREAK ALL EDGES

DATE

10/13/2014

MATERIAL

1000 OLIN WAY, NEEDHAM, MA 02492

TITLE (PART NAME)

ASSEMBLY

RearLinkage

FINISH

SIZE

FILENAME

PART #

NONE

POOF-400

POOF-400

15

10/13/2014

F. SCHNEIDER

MACHINED SURFACES (OR BETTER): 64

11

10/10/2014

APPROVED BY

0.XX
0.01
0.XXX
0.005
0.XXXX
0.0005

DESIGNED BY

P. TITCHENER

STANDARD TOLERANCES

"DESIGNED BY" DESIGNEE

PROPRIETARY AND CONFIDENTIAL

16

P.TITCHENER

ALL DIM. ARE [IN] AND APPLY AFTER FINISH

FOR OFFICIAL USE ONLY

12

SCALE

1:2

SHEET

REV

10

1 OF 1
E

ITEM NO.

PART NUMBER

DESCRIPTION

QTY.

POOF-402

CAM MOUNT

POOF-408

Rear Linkage Cam

90145A437

3/32 x 7/16 Dowel Pin

POOF-409

LinkageTieRod

97395A401

1/16 x .25 Dowel Pin 97395A401

10

3
DO NOT SCALE OFF DRAWING

NOTES:
F

1.
2.
3.

SolidWorks Student Edition.

For Academic Use Only.
1

0.XX
0.01
0.XXX
0.005
0.XXXX
0.0005

10/10/2014

10/14/2014

ANGULAR: MACH () 0.5 BEND ()

CONCENTRICITY (TIR): 0.125

REMOVE ALL BURRS

AND BREAK ALL EDGES

DATE

F. SCHNEIDER

MACHINED SURFACES (OR BETTER): 64

PROJECTION

DATE

APPROVED BY

"DESIGNED BY" DESIGNEE

PROPRIETARY AND CONFIDENTIAL

DRAWN BY

P. TITCHENER

STANDARD TOLERANCES

FOR OFFICIAL USE ONLY

DATE

P.TITCHENER

ALL DIM. ARE [IN] AND APPLY AFTER FINISH

DIMESNIONS APPLY AFTER FINISH

INSPECTION REPORT REQUIRED FOR ALL SPECIFIED DIMENSIONS.
REFERENCE SOLID GEOMETRY FOR ALL UNSPECIFIED DIMENSIONS. STANDARD
TOLERANCE 0.005

DESIGNED BY

10/16/2014

MATERIAL

ASSEMBLY

TailCamLinkage

FINISH

SIZE

FILENAME

PART #

NONE

POOF-417

POOF-417

1000 OLIN WAY, NEEDHAM, MA 02492

TITLE (PART NAME)

SCALE

2:1

SHEET

REV

10

1 OF 1
A

ITEM NO.

PART NUMBER

DESCRIPTION

Revision

QTY.

POOF-413

Rear Linkage Plate 6

POOF-407

TailPivotBracket_2

91251A106

4-40 x .25 91251A106

10

1
D

DO NOT SCALE OFF DRAWING

NOTES:
F

1.
2.
3.

SolidWorks Student Edition.

For Academic Use Only.
1

0.XX
0.01
0.XXX
0.005
0.XXXX
0.0005

10/13/2014

10/13/2014

ANGULAR: MACH () 0.5 BEND ()

CONCENTRICITY (TIR): 0.125

REMOVE ALL BURRS

AND BREAK ALL EDGES

DATE

F. SCHNEIDER

MACHINED SURFACES (OR BETTER): 64

PROJECTION

DATE

APPROVED BY

"DESIGNED BY" DESIGNEE

PROPRIETARY AND CONFIDENTIAL

DRAWN BY

P. TITCHENER

STANDARD TOLERANCES

FOR OFFICIAL USE ONLY

DATE

P.TITCHENER

ALL DIM. ARE [IN] AND APPLY AFTER FINISH

DIMESNIONS APPLY AFTER FINISH

INSPECTION REPORT REQUIRED FOR ALL SPECIFIED DIMENSIONS.
REFERENCE SOLID GEOMETRY FOR ALL UNSPECIFIED DIMENSIONS. STANDARD
TOLERANCE 0.005

DESIGNED BY

10/16/2014

MATERIAL

ASSEMBLY

NONE

FINISH

SIZE

FILENAME

PART #

NONE

POOF-418

POOF-418

1000 OLIN WAY, NEEDHAM, MA 02492

TITLE (PART NAME)

SCALE

1:2

SHEET

REV

10

1 OF 1
A

10

R.03 HAND FILED

ACCEPTABLE

32
B

R.200

.100

.100

.200

R.100
+.0001
.0938 - .0004 THRU ALL

.245

.173

R.050

SECTION A-A
.073

+.0001
.0625 - .0004 THRU ALL

A
0

DO NOT SCALE OFF DRAWING

NOTES:
F

1.
2.
3.

SolidWorks Student Edition.

For Academic Use Only.
1

0.XX
0.01
0.XXX
0.005
0.XXXX
0.0005

10/10/2014

10/14/2014

ANGULAR: MACH () 0.5 BEND ()

CONCENTRICITY (TIR): 0.125

REMOVE ALL BURRS

AND BREAK ALL EDGES

DATE

F. SCHNEIDER

MACHINED SURFACES (OR BETTER): 64

PROJECTION

DATE

APPROVED BY

"DESIGNED BY" DESIGNEE

PROPRIETARY AND CONFIDENTIAL

DRAWN BY

P. TITCHENER

STANDARD TOLERANCES

FOR OFFICIAL USE ONLY

DATE

P. TITCHENER

ALL DIM. ARE [IN] AND APPLY AFTER FINISH

DIMESNIONS APPLY AFTER FINISH

INSPECTION REPORT REQUIRED FOR ALL SPECIFIED DIMENSIONS.
REFERENCE SOLID GEOMETRY FOR ALL UNSPECIFIED DIMENSIONS. STANDARD
TOLERANCE 0.005

DESIGNED BY

10/16/2014

MATERIAL

AISI 316 Stainless Steel Sheet (SS)

Rear Linkage Cam 2

FINISH

SIZE

FILENAME

PART #

NONE

POOF-408

POOF-408

1000 OLIN WAY, NEEDHAM, MA 02492

TITLE (PART NAME)

SCALE

8:1

SHEET

REV

10

1 OF 1
A

10

2.350

0
.025
.200
.500
.750
.800
.975
1.300

.800
.750
.500

.850

.100
.089 THRU ALL
4X
4-40 UNC THRU ALL
2.175
1.938
1.801

4X

.177 THRU
.332 X 100
B

1.500
1.250
.129 THRU ALL

.500

4X R.100

.260

.188 THRU ALL

.177 THRU ALL

D

1.801
1.938
2.175

DO NOT SCALE OFF DRAWING

NOTES:
F

1.
2.
3.

.800

.500
.750

.500

.750

.800

TYP R.100

SolidWorks Student Edition.

For Academic Use Only.

STANDARD TOLERANCES

0.XX
0.01
0.XXX
0.005
0.XXXX
0.0005

DATE

10/10/2014

P. TITCHENER

10/14/2014

APPROVED BY

DATE

1000 OLIN WAY, NEEDHAM, MA 02492

ANGULAR: MACH () 0.5 BEND ()

CONCENTRICITY (TIR): 0.125

REMOVE ALL BURRS

AND BREAK ALL EDGES

"DESIGNED BY" DESIGNEE

PROPRIETARY AND CONFIDENTIAL

DRAWN BY

MACHINED SURFACES (OR BETTER): 64

PROJECTION

FOR OFFICIAL USE ONLY

DATE

P. TITCHENER

ALL DIM. ARE [IN] AND APPLY AFTER FINISH

DIMESNIONS APPLY AFTER FINISH

INSPECTION REPORT REQUIRED FOR ALL SPECIFIED DIMENSIONS.
REFERENCE SOLID GEOMETRY FOR ALL UNSPECIFIED DIMENSIONS. STANDARD
TOLERANCE 0.005

DESIGNED BY

MATERIAL

TITLE (PART NAME)

5052-H38

Rear Linkage Plate 1

FINISH

SIZE

FILENAME

PART #

NONE

POOF-403

POOF-403

SCALE

1:2

SHEET

REV

10

1 OF 1
A

10

.490
C
A

.625
B

.313
.150
0

1.100
.938

.094 THRU ALL

1.949

.200

1.250
B

0
.098
.225
.353

.450
.575

.050

TYP R.050

SECTION A-A
SCALE 1.5 : 1

.100
0
.125

4X R.063
D

2X
.129 THRU ALL
.219 SEE SECTION FOR DEPTH
.625

.089 THRU ALL

4-40 UNC THRU ALL

R.150
R.050
DO NOT SCALE OFF DRAWING

NOTES:
F

1.
2.
3.

ANGULAR: MACH () 0.5 BEND ()

CONCENTRICITY (TIR): 0.125

PROJECTION

10/10/2014

10/14/2014

REMOVE ALL BURRS

AND BREAK ALL EDGES

DATE

F. SCHNEIDER

MACHINED SURFACES (OR BETTER): 64

"DESIGNED BY" DESIGNEE

PROPRIETARY AND CONFIDENTIAL

DATE

APPROVED BY

0.XX
0.01
0.XXX
0.005
0.XXXX
0.0005

SolidWorks Student Edition.

For Academic Use Only.

DRAWN BY

P.TITCHENER

STANDARD TOLERANCES

FOR OFFICIAL USE ONLY

DATE

P.TITCHENER

ALL DIM. ARE [IN] AND APPLY AFTER FINISH

DIMESNIONS APPLY AFTER FINISH

INSPECTION REPORT REQUIRED FOR ALL SPECIFIED DIMENSIONS.
REFERENCE SOLID GEOMETRY FOR ALL UNSPECIFIED DIMENSIONS. STANDARD
TOLERANCE 0.005

DESIGNED BY

10/16/2014

MATERIAL

Brass

Cam Mount

FINISH

SIZE

FILENAME

PART #

NONE

POOF-402

POOF-402

1000 OLIN WAY, NEEDHAM, MA 02492

TITLE (PART NAME)

SCALE

2:1

SHEET

REV

10

1 OF 1
A