Development of underwater robots using piezoelectric fiber composite

Ming, Aiguo; Park, Seokyong; Nagata, Yoshinori; Shimojo, Makoto

doi:10.1109/robot.2009.5152723

Cited by 20 publications

(19 citation statements)

References 6 publications

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“…In this section, a printed-circuit-board (PCB) high-voltage amplifier is implemented along with a microcontroller to overcome this issue in free locomotion. To our knowledge, this section presents the first untethered piezoelectric robotic fish since the configurations in previous efforts [52][53][54][55] were actuated by external power through tethers.…”

Section: Electronic Architecture For Untethered Swimmingmentioning

confidence: 99%

“…To the best of our knowledge, untethered (internally powered) piezoelectric robotic fish concept has not been covered in the literature [52][53][54][55]. High voltage input requirement and low strain output are the two disadvantages of piezoelectric transduction limiting the application of previously investigated piezoelectric structures for robotic fish development to use in free locomotion.…”

Section: Introductionmentioning

confidence: 99%

“…However, the magnification component that is employed for creating larger vibration amplitudes typically creates energy loss and noise. As far as the high input voltage requirement is concerned, research groups have used tethered configurations to power piezoelectric robotic fish, which restricts the freelocomotion capability [52][53][54][55].…”

Section: Introductionmentioning

confidence: 99%

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Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

2013

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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: Electronic Architecture For Untethered Swimmingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

2013

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“…During steady swimming, smooth changes of direction, referred to as in-cruise turning, can be modeled as an asymmetry on the undulation with respect to the longitudinal axis. This can be modeled adding a bias function that defines a deflection curve: On the practical side, this implies that the joint equation in ( 6) becomes β j (t) = q j (t) = a j • sin(ωt + φ j ) + b j , (8) where the quantity b j is related to the curvature radius of the turn. For articulated bodies, it is easy to see that the bias b j for each joint and the direction h of the last body w.r.t the first is b = h/n, n being the number of joints.…”

Section: Cruise-in Turningmentioning

confidence: 99%

“…Within the field of underwater locomotion, research about the use of smart materials is mainly focused on mechatronics design and actuation control. As far as mechatronic design is concerned, much work is devoted to building hydrofoils using, e.g., piezo-electric fiber composite [8,9] or embedding SMA wires into an elastic material such as silicone [10][11][12][13]. SMAs are also used as linear actuators in articulated structures [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Bending continuous structures with SMAs: a novel robotic fish design

et al. 2011

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In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.

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Biomimetic flexible plate actuators are faster and more efficient with a passive attachment

Yeh

Alexeev

2016

Acta Mech. Sin.

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Development of underwater robots using piezoelectric fiber composite

Cited by 20 publications

References 6 publications

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Bending continuous structures with SMAs: a novel robotic fish design

Biomimetic flexible plate actuators are faster and more efficient with a passive attachment

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