Development of shape memory alloy actuated caudal fin soft robotic fish propulsion system

2021 ◽  
Author(s):  
Abel Thanagawng ◽  
Rylan King ◽  
Vasil Lakimovitch ◽  
Marius Pruessner ◽  
Lloyd Emokpae ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Propulsion System ◽  
Robotic Fish ◽  
Caudal Fin ◽  
Fish Propulsion

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

2021 ◽  
Vol 71 (1) ◽  
pp. 94-101
Author(s):  
M. Muralidharan ◽  
I.A. Palani
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Kinematic Model ◽  
Open Loop ◽  
Robotic Fish ◽  
Water Medium ◽  
Light Weight ◽  
Caudal Fin ◽  
Locomotion Pattern ◽  
Sma Spring

In this paper, a shape memory alloy (SMA) actuated subcarangiform robotic fish has been demonstrated using a spring based propulsion mechanism. The bionic robotic fish developed using SMA spring actuators and light weight 3D printed components can be employed for under water applications. The proposed SMA spring-based design without conventional motor and other rotary actuators was able to achieve two-way shape memory effect and has reproduced the subcarangiform locomotion pattern. The positional kinematic model has been developed and the dynamics of the proposed mechanism were analysed and simulated using Automated Dynamic Analysis of Mechanical Systems (ADAMS). An open loop Arduino-relay based switching control has been adopted to control the periodic actuation of the SMA spring mechanism. The undulation of caudal fin in air and water medium has been analysed. The caudal fin and posterior body of the developed fish prototype have taken part in undulation resembling subcarangiform locomotion pattern and steady swimming was achieved in water with a forward velocity of 24.5 mm/s. The proposed design is scalable, light weight and cost effective which may be suitable for underwater surveillance application.

Design of a Robotic Fish Using Shape Memory Alloy (SMA) Wires

2001 ◽  
Author(s):  
N. Penney ◽  
T. A. Barr ◽  
G. Song
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Smart Materials ◽  
Robotic Fish ◽  
Commercial Fishing ◽  
Electronic Control ◽  
Real Time Control ◽  
Time Control ◽  
Complex Design ◽  
Control Package

Abstract There are several problems with current electro-mechanical or biomechanical robotic fish. All servomotors emit detectable noises when they are operated. This is a major problem when designing a device that needs to remain undetectable, such as a submarine. The cost of hardware and electronics package that is associated with servo devices are generally very high. Another problem is the underwater reliability of sensitive electronics packages in a fresh or saltwater environment, where the possibility of leaking is a real threat. Finally the duplication of natural fish movement with servomotors is a very complex design. This paper presents a novel design of a robotic fish actuated by shape memory alloy wires. This fish is constructed using an innovative composite skeleton and shape memory alloy wires for the muscle structure. The skeleton of the fish is designed to duplicate a natural fish like movement. Several working models of this type fish have been fabricated in the Smart Materials and Structures Laboratory at The University of Akron. An off-board electronic control package has been designed to actuate the SMA wires and maneuver the fish. The off-board electronic control package mainly consists of a programmable current amplifier and a real-time control system. Experimental results show that fish-like locomotion can be achieved. By utilizing shape memory alloys instead of servomotors a robotic fish can become as undetectable as a living fish. Smart memory alloys are cheaper and more reliable than servomotors under harsh environmental conditions; the overall cost of the fish may be reduced. Since this fish can reproduce the natural mobility of a living fish without the noise of servomotors, this fish can be utilized in both the commercial fishing industry and the intelligence field.

A New Design of Underwater Robot Fish System Using Shape Memory Alloy

2012 ◽  
Vol 187 ◽  
pp. 260-266 ◽  
Author(s):  
Pei Hua Huang ◽  
Jian Wang
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Balance Equation ◽  
Quantitative Relationship ◽  
Anatomical Structure ◽  
Propulsion System ◽  
Underwater Robot ◽  
Bionic Structure ◽  
Robot Fish

The bionic structure of an oscillatory propulsion system was discussed in this paper, This structure was contrived from sufficient analysis by the anatomical structure of a fish, Shape Memory Alloy was used to apply its power. Of course, we simplified the oscillatory propulsion system. Finally, we established the quantitative relationship among parameters depending on the torque balance equation.

Structure and mobility of martensite variant interfaces in a Cu-Zn-AI shape memory alloy

2003 ◽  
Vol 112 ◽  
pp. 519-522 ◽  
Author(s):  
W. Cai ◽  
J. X. Zhang ◽  
Y. F. Zheng ◽  
L. C. Zhao
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Martensite Variant
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