Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish

Cho, Kyu-Jin; Hawkes, Elliot W.; Quinn, C.; Wood, Robert J.

doi:10.1109/robot.2008.4543288

Cited by 15 publications

(13 citation statements)

References 18 publications

(20 reference statements)

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“…for sustainable ecology to drug delivery and disease screening in medicine [1][2][3]. Other than the use of conventional actuators, such as servomotors and hydraulic actuators employed in conjunction with various mechanisms [4][5][6][7][8][9][10][11][12][13], recently, various smart materials have been utilized for fish-like robotic fish development, such as ionic polymer-metal composites (IPMCs) [14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31], Shape memory alloys (SMAs) [32][33][34][35][36][37], magnetostrictive thin films [38][39][40], among other alternatives [41][42][43]. In particular, the IPMC technology [14][15][16][17]…”

Section: Introductionmentioning

confidence: 99%

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Cen

Ertürk

2013

Bioinspir. Biomim.

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This paper investigates fish-like aquatic robotics using flexible bimorphs made of macro-fiber composite (MFC) piezoelectric laminates for carangiform locomotion. In addition to noiseless and efficient actuation over a range of frequencies, geometric scalability, and simple design, bimorph propulsors made of MFCs offer a balance between the actuation force and velocity response for performance enhancement in bio-inspired swimming. The experimental component of the presented work focuses on the characterization of an elastically constrained MFC bimorph propulsor for thrust generation in quiescent water as well as the development of a robotic fish prototype combining a microcontroller and a printed-circuit-board amplifier to generate high actuation voltage for untethered locomotion. From the theoretical standpoint, a distributed-parameter electroelastic model including the hydrodynamic effects and actuator dynamics is coupled with the elongated-body theory for predicting the mean thrust in quiescent water. In-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated-body theory to predict the thrust output. The measured mean thrust levels in quiescent water (on the order of ∼10 mN) compare favorably with thrust levels of biological fish. An untethered robotic fish prototype that employs a single bimorph fin (caudal fin) for straight swimming and turning motions is developed and tested in free locomotion. A swimming speed of 0.3 body-length/second (7.5 cm s⁻¹ swimming speed for 24.3 cm body length) is achieved at 5 Hz for a non-optimized main body-propulsor bimorph combination under a moderate actuation voltage level.

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Section: Introductionmentioning

confidence: 99%

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Cen

Ertürk

2013

Bioinspir. Biomim.

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“…supervisión de bancos de peces), el ruido generado e incluso la misma hélice podría poner en peligro la vida marina. Aplicaciones como esta justifican el uso de fibras SMAs como mecanismos de actuación muscular en robots bioinspirados que a su vez exigen el desarrollo de arquitecturas de control más eficientes (Kyu-Jin et al (2008)), (Rossi et al (2011)).…”

Section: Aplicaciones De Smas Ventajas Problemas Y Contribu-unclassified

Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y Actuación

Colorado¹,

Barrientos²,

Rossi³

2011

Revista Iberoamericana de Automática e Informática Industrial R

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Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales,ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementación de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructuraósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs.

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“…Cho et al [24] presented an aquatic propulsion system made of three linked swimming actuator with two SMA actuators at the joints.…”

Section: Positioningmentioning

confidence: 99%

Swimming Micro Robots for Medical Applications

Kósa

Székely²

2010

Surgical Robotics

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We review micro-systems with robotic aspects that are used in medical diagnosis and intervention. We describe the necessary components for a microrobot and present the state of the art and gaps of knowledge. One of the great challenges in micro robots is the propulsion. Different propulsive strategies and specifically flagellar propulsion is evaluated in this chapter. We analyze the influence of the miniaturization on the micro-robot and try to estimate the future developments in the field.

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Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish

Cited by 15 publications

References 18 publications

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y Actuación

Swimming Micro Robots for Medical Applications

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