Design and demonstration of a fish robot actuated by a SMA-driven actuation system

Le, Chan Hoang; Nguyen, Quang Sang; Park, Hoon Cheol

doi:10.1117/12.847476

Cited by 3 publications

(4 citation statements)

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“…To improve the performance of the bionic fin, the structure and control strategy of the bionic fin should be studied further. Le et al 67 reported that compared with the thin-layer composite single piezoelectric wafer ferroelectric driver (THUNDER) and light piezoelectric composite bending driver (LIPCA), SMA conductors are the best choice for producing a large actuation force and displacement. SMA wires are used for underwater-vehicle driving because they have a high cooling capacity when contacting water, which increases the driving frequency, but they consume a large amount of energy.…”

Section: Functional Materialsmentioning

confidence: 99%

Review of multi-fin propulsion and functional materials of underwater bionic robotic fish

Wang

Dong

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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At present, single-fin propulsion modes, such as pectoral fins and caudal fins, cannot ensure the mobility and forward speed of bionic robotic fish, whereas a multi-fin and flexible body can better ensure a high propulsion efficiency – particularly with low-speed mobility and high-speed stability. Therefore, the cooperative propulsion mode of the pectoral fin and caudal fin has become a research hotspot in recent years. This paper systematically introduces various actuators of robotic fish, including traditional actuators and functional materials. The functional materials include shape-memory alloy wires, ionic polymer–metal composites and piezoelectric ceramics, and their performance characteristics and limitations are discussed. Functional materials can reduce the volume and weight of a robot and reduce noise. Underwater robots have the advantages of flexibility and the ability to perform complex motions. Therefore, flexible robotic fish that combine the flexible behaviour of real fish with robot technology are gradually emerging. Finally, future research directions for bionic robotic fish are presented.

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Section: Functional Materialsmentioning

confidence: 99%

Review of multi-fin propulsion and functional materials of underwater bionic robotic fish

Wang

Dong

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Sound, vibration, unbalancing during operation, and complexity in body structural design are some common limitations of motor-based robotic fish. The silent, smooth, simple, and effective operation of smart material actuators such as shape memory alloys (SMAs) [ 2 , 3 , 4 , 5 , 6 ], dielectric elastomer actuators (DEA) [ 7 , 8 ], ionic polymer–metal composite (IPMC) actuators [ 9 , 10 ], etc., has attracted the attention of researchers for developing smart-material-based robotic fish [ 11 ]. It has also been observed that among all smart-actuator-based robotic fishtails, SMA spring-actuator-based robotic fishtails develop high forward thrust [ 12 ].…”

Section: Introductionmentioning

confidence: 99%

“…Each wire of the developed model produced a pull force of 321 gm [ 19 ]. Continuous caudal fin oscillation using SMA wire (0.1 mm) and a GE strip-based rocking–rocking mechanism was developed by Le et al [ 2 ]. The model developed a maximum forward thrust of 0.004 N. Rossi et al [ 20 ] developed gear- and motor-less robotic fish, in which stretched SMA wire is attached along a bending backbone made of a continuous deformable structure.…”

Section: Introductionmentioning

confidence: 99%

Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust

Koiri,

Dubey,

Sharma

et al. 2024

Sensors

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Shape memory alloys (SMAs) have become the most common choice for the development of mini- and micro-type soft bio-inspired robots due to their high power-to-weight ratio, ability to be installed and operated in limited space, silent and vibration-free operation, biocompatibility, and corrosion resistance properties. Moreover, SMA spring-type actuators are used for developing different continuum robots, exhibiting high degrees of freedom and flexibility. Spring- or any elastic-material-based antagonistic or biasing force is mostly preferred among all other biasing techniques to generate periodic oscillation of SMA actuator-based robotic body parts. In this model-based study, SMA-based spring-type actuators were used to develop a carangiform-type robotic fishtail. Fin size optimization for the maximization of forward thrust was performed for the developed system by varying different parameters, such as caudal fin size, current through actuators, pulse-width modulation signal (PWM), and operating depth. A caudal fin with a mixed fin pattern between the Lunate and Fork “Lunafork” and a fin area of approximately 5000 mm2 was found to be the most effective for the developed system. The maximum forward thrust developed by this fin was recorded as 40 gmf at an operation depth of 12.5 cm in a body of still water.

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“…After that, the bending motion of the actuator was converted into the tail-beat motion of the robotic fish through a linkage system. The maximum speed of the robot was 0.06 BL/s at 0.9 Hz [18]. The behaviors of SAMs during the transition from heating to cooling must be considered [19].…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a novel tendon-driven continuum robotic dolphin

Liu¹,

Zhang²,

Liu³

et al. 2021

Bioinspir. Biomim.

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In this paper, a novel continuum robotic dolphin termed 'ConRoDolI' is proposed and developed. The biomimetic robot features dual tendon driving continuum mechanisms that are utilized to replicate the twisting and bending motions of the dolphin's caudal vertebrae and thoracic vertebrae. More importantly, a central pattern generator based kinematics is analyzed to yield stable dolphin-like swimming. In the meantime, the relationship between the backbone shape and both the tendon length as well as position and orientation are explored. Furthermore, multimodal swimming gaits are designed to pave the way for a three-dimensional (3D) swimming decoupling solution, involving forwarding swimming, multiple yaw patterns, and multiple pitch patterns. All of these endow the robotic dolphin with 3D maneuverability. Finally, extensive experiments demonstrate the feasibility of the proposed biomimetic mechatronic design and control approach. The forward swimming speed is 0.44 body lengths per second (BL/s). The steering radius of the robot is about 0.11 BL with an angular velocity of 10 • /s and the diving speed is about 0.13 BL/s. The average propulsion efficiency is about 0.6 with the maximum is over 0.8. The obtained results shed light on the improvement of aquatic maneuverability associated with new-concept underwater vehicles.

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Design and demonstration of a fish robot actuated by a SMA-driven actuation system

Cited by 3 publications

References 0 publications

Review of multi-fin propulsion and functional materials of underwater bionic robotic fish

Review of multi-fin propulsion and functional materials of underwater bionic robotic fish

Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust

Design and analysis of a novel tendon-driven continuum robotic dolphin

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