Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators

Muralidharan, M.; Palani, I. A.

doi:10.14429/dsj.71.15777

Cited by 27 publications

(19 citation statements)

References 29 publications

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“…[87] On the contrary, Muralidharan et al designed a biomimetic subcarangiform swimmer based on SMA actuators. [75] Due to the big head and lacked skin to maintain a streamlined body, the robot fish not only cannot produce effective thrust, but also has large structural resistance. As a result, the swimming speed of the robotic fish was only 0.0098 BL S −1 .…”

Section: Bcf Modementioning

confidence: 99%

Soft Underwater Swimming Robots Based on Artificial Muscle

Wang

Zhang

et al. 2022

Adv Materials Technologies

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Hence, the exploration and exploitation of marine resources are crucial to human development. However, due to the deep sea's low temperature, high pressure, and complex fluid environment, it is difficult for human beings to easily investigate and work there. As a result, only 5% of Earth's oceans have been explored. Fortunately, thanks to recent rapid developments in science and technology, underwater robotics has seen explosive growth, giving humans a powerful tool to explore the world's oceans, which are expected to play a key role in the underwater rescue, submarine inspection, and hydrological monitoring. [2,3] Recently, with the fast development of bionic technology, [4][5][6][7][8][9] advanced underwater experimental platforms, [10][11][12][13][14] and computational science, [15][16][17][18][19][20] researchers have a deeper understanding of the swimming mechanism of aquatic organisms, which has promoted the explosive growth of underwater robots. [21][22][23][24][25] For example, Zhang et al. [26] developed a gliding robotic fish for long-duration monitoring of underwater environments by combining underwater gliders and robotic fish. Yu et al. [27] developed a biomimetic robot dolphin that, by controlling the pitch angle and swimming speed, could successfully jump out of the water. Lauder and coworkers [28] designed a fast-swimming robot tuna that, through the high-frequency oscillation of the caudal fin, could achieve a maximum tail beat frequency of 15 Hz, which corresponds to a swimming speed of 4.0 body lengths per second (BL S −1 ). However, most underwater robots are driven by motors that are bulky in structure and lack essential safety. In the execution of underwater missions, it is not only easy to cause harm to marine organisms, but it is also difficult to complete required tasks due to poor overall flexibility. Moreover, a rigid robot body driven by a motor suffers from high noise output and a low battery energy conversion rate, meaning that the robot is unable to realize long-term and long-distance tasks. A high noise output can also expose the position of the underwater robot. Overall, the shortcomings of rigid robotic fish significantly restrict application at sea. It is an urgent need to develop high-performance underwater swimming robots with new propulsion methods and bionic structures. Benefiting from the rapid development of materials science and intelligent manufacturing, soft underwater swimming robots have become a hot topic of research. Compared with With the increasing requirements of underwater missions and the rapid development of soft robotics technologies, soft underwater swimming robots have become a hot topic of research due to their low noise, high flexibility, and high environmental adaptability. In the past 10 years, research into soft underwater robots based on artificial muscle actuation has made considerable progress. Herein, a comprehensive survey on recent advances in soft underwater swimming robots based on different actuation methods is reviewed systematically, includi...

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Section: Bcf Modementioning

confidence: 99%

Soft Underwater Swimming Robots Based on Artificial Muscle

Wang

Zhang

et al. 2022

Adv Materials Technologies

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“…In the main hysteresis loop, h i− (T) is h − (T), and the slope function g i− (T) is g − (T). Therefore, the slope function of the main hysteresis loop is a special case of Equation (17). In the same way as in Equations ( 15)-( 17), the slope function g i+ (T) in the heating process of the minor hysteresis loop can also be obtained, so the ξ a− T hysteresis model of the SMA material including the main and minor hysteresis loops is…”

Section: The Phase Transformation Kinetics Model Of Shape Memory Alloymentioning

confidence: 99%

“…Ranjith Pillai R designed a parallel platform robotic system based on the large strain characteristics of the SMA spring [15]. The SMA spring actuator is also applied to various bionic robots, such as the worm robot [16], micro bionic fish robot [17,18] and jumping robot [19]. Ryan M. Bena used a high-frequency SMA bending actuator in a steerable robot, which caused the micro insect robot SMARTI to show good mobility [20].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Feng-chen

Mao

et al. 2022

Micromachines

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The shape memory alloy (SMA) actuator is widely used in aerospace, medical and robot fields because of its advantages of low driving voltage, large driving force, no noise and high-power–weight ratio. Therefore, it is of great significance to establish the theoretical model of the SMA actuator and analyze the driving characteristics of the SMA actuator. On the basis of summarizing the constitutive model of the shape memory alloy spring, the phase transformation dynamics model of SMA including the minor hysteresis loop is established using the Duhem model in this paper, and the theoretical models of the bias and differential SMA spring actuator are established. At the same time, a PID position controller including anti-saturation and anti-overheating functions is proposed to control the position of the SMA actuator. Finally, the position control simulation model of the SMA spring actuator is established and simulated. Simulation results show that the position of the SMA actuator can be well controlled by using the model and control method established in this paper.

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“…Figure 3(a) shows the approach presented in [24], which is an artificial musculoskeletal fish compounded by three ribs. The ribs are mechanically joined by lateral spring-based muscles built of shape memory alloy (SMA).…”

Section: Subcarangiform Swimmer Robotsmentioning

confidence: 99%

Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

Martínez‐García

Lavrenov

Magid

2022

ACRT

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Researchers have developed numerous artificial fish to mimic the swimming abilities of biological species and understand their biomechanical subaquatic skills. The motivation arises from the interest to gain deeper comprehension of the efficient nature of biological locomotion, which is the result of millions of years of evolution and adaptation. Fin-based biological species developed exceptional swimming abilities and notable performance in highly dynamic and complex subaquatic environments. Therefore, based on research by the scientific community, this mini-review concentrates on discussing the mechanical devices developed to implement the caudal propulsive segments of robotic fish. Caudal mechanisms are of considerable interest because they may be designed to control inertial and gravitational forces, as well as exerting great dynamic range in robotic fish. This manuscript provides a concise review focused on the engineering implementations of caudal mechanisms of anguilliform, subcarangiform, subcarangiform, thunniform and ostraciiform swimming modes.

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Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators

Cited by 27 publications

References 29 publications

Soft Underwater Swimming Robots Based on Artificial Muscle

Soft Underwater Swimming Robots Based on Artificial Muscle

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

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