TY - GEN
T1 - An Untethered Bionic Robotic Fish Using SMA Actuators
AU - Chen, Xiaojie
AU - Shigemune, Hiroki
AU - Sawada, Hideyuki
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by JSPS KAKENHI Grant Nos. 18H05473, 18H05895 and 20H04214, and the Waseda University Grant for Special Research Projects (Project No. 2019R-039).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - The authors develop a bionic robotic fish that has a soft tail using smart material as an actuator. Two sets of shape memory alloy (SMA) wires are stitched inside of the soft tail, which would let the tail bend in both sides. The designed structure is expected to gain the ability to imitate the swimming posture of a real fish in the water to swim straight and could turn left and right by employing the body and the caudal fin (BCF mode). The streamline of the body and head part are designed by a 3D CAD, and then printed by a high precision 3D-printer. The robotic fish system is governed by an infrared remote controller, which sends signals to a micro Arduino computer inside the fish body for controlling the swimming motion and the speed. We study the relations between the control signals and the robotic swimming behavior. The swimming motion under a low and a high frequency are analyzed.
AB - The authors develop a bionic robotic fish that has a soft tail using smart material as an actuator. Two sets of shape memory alloy (SMA) wires are stitched inside of the soft tail, which would let the tail bend in both sides. The designed structure is expected to gain the ability to imitate the swimming posture of a real fish in the water to swim straight and could turn left and right by employing the body and the caudal fin (BCF mode). The streamline of the body and head part are designed by a 3D CAD, and then printed by a high precision 3D-printer. The robotic fish system is governed by an infrared remote controller, which sends signals to a micro Arduino computer inside the fish body for controlling the swimming motion and the speed. We study the relations between the control signals and the robotic swimming behavior. The swimming motion under a low and a high frequency are analyzed.
KW - Bionic robots
KW - Fluid mechanics
KW - Shape memory alloy
KW - Soft actuator
KW - Swimming robots
UR - http://www.scopus.com/inward/record.url?scp=85096543790&partnerID=8YFLogxK
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U2 - 10.1109/ICMA49215.2020.9233798
DO - 10.1109/ICMA49215.2020.9233798
M3 - Conference contribution
AN - SCOPUS:85096543790
T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
SP - 1768
EP - 1773
BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Y2 - 13 October 2020 through 16 October 2020
ER -