Effect of artificial caudal fin on performance of a biomimetic fish robot actuated by piezoelectric actuators

2008 ◽  
Author(s):  
S Heo ◽  
T Wiguna ◽  
N Goo ◽  
H Park
Keyword(s):  
Piezoelectric Actuators ◽  
Fish Robot ◽  
Caudal Fin

Mechanical Design of Biomimetic Fish Robot Using LIPCA as Artificial Muscle

2006 ◽  
Vol 326-328 ◽  
pp. 1443-1446 ◽  
Author(s):  
Tedy Wiguna ◽  
Seok Heo ◽  
Hoon Cheol Park ◽  
Nam Seo Goo
Keyword(s):  
Swimming Speed ◽  
Mechanical Design ◽  
Beat Frequency ◽  
Artificial Muscle ◽  
Linkage Mechanism ◽  
Fish Robot ◽  
Caudal Fin ◽  
Caudal Fin Shape ◽  
Swimming Test ◽  
Four Bar Linkage

This paper presents a mechanical design of biomimetic fish robot using the Lightweight Piezo-Composite Actuator (LIPCA). We have designed a mechanism for converting actuation of the LIPCA into caudal fin movement. The linkage mechanism consists of rack-pinion and four-bar linkage systems. Two kinds of caudal fins are fabricated such that the shapes resemble subcarangiform and ostraciiform caudal fin shape, respectively, and then attached to the linkage system. The swimming test using 300 Vpp input with 1 Hz to 3 Hz frequency was conducted to investigate the effect of tail beat frequency and shape of caudal fin on the swimming speed. The maximum swimming speed was reached when the device was operated at its natural swimming frequency. At the natural swimming frequency of 1.016 Hz, maximum swimming speeds were 1.267 cm/s and 1.041 cm/s for ostraciiform and subcarangiform caudal fin, respectively. The Strouhal numbers, which are a measure of thrust efficiency, were also calculated in order to examine thrust performance of the present biomimetic fish robot.

scholarly journals Development of a Micro Swimming Robot Using Optimised Giant Magnetostrictive Thin Films

2006 ◽  
Vol 3 (3) ◽  
pp. 161-170 ◽  
Author(s):  
Y. Zhang ◽  
G. Liu ◽  
H. Li
Keyword(s):  
Thin Films ◽  
Cross Section ◽  
Variable Cross Section ◽  
Variable Cross ◽  
Propulsive Force ◽  
Fish Robot ◽  
Caudal Fin ◽  
Cross Section Area ◽  
Section Area ◽  
Micro Robot

A fish-like swimming micro robot is developed using an optimised fin actuator made of giant magnetostrictive films (GMFs). The force oscillation dynamic model of a GMF cantilever with variable cross-section area is derived, and the propulsive model of the fish robot in liquid is established. A discrete variate method for optimising caudal fin configuration is proposed to optimise its propulsive force and drive efficiency under the constraints of fixed surface area and sufficient fin end strength. Both theoretical analysis and experimental results have confirmed that the optimised caudal fin configuration can generate more powerful propulsion and improved efficiency.

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