  The Hair Clip Mechanism HCM represents an innovative in plane prestressed
bistable mechanism, as delineated in our preceding studies, devised to augment
the functional prowess of soft robotics. When juxtaposed with conventional soft
and compliant robotic systems, HCMs exhibit pronounced rigidity, augmented
mobility, reproducible repeatability, and an effective design and fabrication
paradigm. In this research, we investigate the feasibility of utilizing carbon
fiber reinforced plastic CFRP as the foundational material for an HCM based
fish robot, herein referred to as CarbonFish. Our objective centers on
realizing high frequency undulatory motion, thereby laying the groundwork for
accelerated aquatic locomotion in subsequent models. We proffer an exhaustive
design and fabrication schema underpinned by mathematical principles.
Preliminary evaluations of our single actuated CarbonFish have evidenced an
undulation frequency approaching 10 Hz, suggesting its potential to outperform
other biologically inspired aquatic entities as well as real fish.
