Alireza Barimani - B.Sc. Student, Faculty of Computer Engineering, Esfarayen University of Technology, Esfarayen, Iran
Behzad Nasiri Omali - B.Sc. Student, Faculty of Mechanical Engineering, Petroleum University of Technology, Mahmudabad, Iran
Ali Akbar Ghaffari - B.Sc. Student, Faculty of Mechanical Engineering, University of Birjand, Birjand, Iran
Davood Domiri Ganji - Department of Mechanical Engineering, Babol Noshirvani University of Technology, Babol, Iran,

In this project, we first investigated the way salmon fish moves and then, according to the shape of the body of this fish and its movement, we make our own intelligent fish robot. This robot is commanded by the user with the help of remote control and we coordinate with the internal parts of the robot by AVR microcontroller and C language Programming. In this research, due to the fact that the movement of each of the servomotors of the fish robot's joints is controlled by a sinusoidal relationship with respect to time and space, the soft movement of the karanjiform handle has been modeled in a sinusoidal way. At first, in Matlab software, the way of changing the joints and the amount of swing range and movement frequency of each modeled and these time-spatial equations are given to each of the servomotors of the robot's movement joints. The limitations of this research include keeping the density of the fish around the density of water, i.e., one, so that it can easily arch up and down the water. And to provide this, we have to make the weight of the fish (Kg) approximately equal to its volume (m۳). And match the center of mass to the buoyancy center of the fish so that the robot is not overturned in the water and we can control it manually. Construction This robot can be an alternative to underwater robots such as ROVs and AUVs.

Intelligent Fish Robot, AVR microcontroller, Remote Control, C Programming, ۳D Design