Distributed type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism

Fukuda, Toshio; Hosokai, Hidemi; Kikuchi, Isamu

doi:10.1109/robot.1990.126182

Cited by 50 publications

(24 citation statements)

References 2 publications

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“…The robotic mechanism is simple, but its joints were driven by springs, which led to the difficulty in controlling oscillation angles of the caudal fin. 8 In china, the guide rods and hydraulic system were applied to imitate the swim bladder of the robotic fish. 9 This structure was good for robotic fish swimming up and down in the water.…”

Section: Introductionmentioning

confidence: 99%

Optimization and simulation of a bionic fish tail driving system based on linear hypocycloid with hydrodynamics

Wang

Qinfeng

et al. 2017

Advances in Mechanical Engineering

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The tail driving system based on linear hypocycloid has the advantages of adjustable phase difference, no quick-return, and combining speed reducer with transformation mechanism. The plane complex movement of the driving system was realized via a motion triangle with a linear hypocycloid planetary gear train and a linkage. In this article, we approach the question of which kind of parameter design can make this driving system more efficient in swimming from a hydrodynamic perspective. First, dynamic and hydrodynamic models were established with momentum theorem, Lagrange theorem, and two-dimensional foil theory. And then, hydrodynamic optimization on kinematic parameters (i.e. caudal peduncle's reciprocation velocity and caudal fin swing angle) and structural parameters (i.e. swing amplitude, V planetary carrier's angle, and sun gear's radius) for a better propulsive efficiency was developed in detail. Second, influences of structural parameters on vortex ring were further conducted by numerical simulation in FLUENT. Finally, the prototype and experimental platform of the designed driving system were established, and the theoretical derivation of lift and lateral forces was testified by experiment.

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Section: Introductionmentioning

confidence: 99%

Optimization and simulation of a bionic fish tail driving system based on linear hypocycloid with hydrodynamics

Wang

Qinfeng

et al. 2017

Advances in Mechanical Engineering

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“…Due to these advantages, SMA actuator was utilized a lot of mechanical applications such as the This micro/nano robots, the robotic hands, or the haptic devices [2]- [9]. Then, SMA actuated fish-like robots were studied very well and various kind of mechanisms were developed [10]- [17].…”

Section: Introductionmentioning

confidence: 99%

A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds

Ishibashi

Ochi

Oda

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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This paper proposed a concept of flexible wingmechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of the wings is controlled and then the fluid resistance will be changed. Then, we can control the posture of the robot. The wing mechanism is constructed mainly from flexible materials. Thus, range of the fluid resistance becomes different between the high speed flow and low speed flow. In the fast flow condition, flexible wing mechanism is compressed and the range of the shape control becomes low. Then, the mechanism can control the posture of the robot under the various flow speeds.

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“…In order to improve upon the current AUV design, researchers are taking inspiration from nature by looking at how animals solved the underwater locomotion challenges [4] [5]. This bio-inspired approach has gained even more traction with the advancements in smart material actuators, such as shape memory alloys (SMAs) [6], ionic polymer-metal composite (IPMC) [7] and micro-fiber composite [8]. The reasoning behind imitating the nature relies on the notion that nature has perfected its systems over millions of years of evolution, an optimization process that led to sequential improvements throughout the generations of animal.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of a jellyfish-inspired AUV

2013

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Current autonomous underwater vehicle (AUV) designs have a serious deficiency in autonomy time due to its ballistic type of construction: a cylindrical body propelled by a rear engine. This type of design does not take complete advantage of the fluid that has to be displaced to move the vehicle forward, reducing the overall system efficiency and consequently its operation time. In order to overcome this limitation, research has focused on understanding of the propulsive mechanisms employed by the natural organisms. Jellyfish is one of the simplest and most relevant model systems as it exhibits one of the lowest cost-of-transport among all the known creatures. The learning and implementation of jellyfish-inspired vehicle design requires an evaluation of the current mathematical modeling approaches in order to adequately describe the dynamics of such a vehicle. This paper develops a time-varying rigid body model for the kinematics and dynamics of an AUV based on jellyfish rowing propulsion. A nonlinear sliding mode controller is also proposed to drive the system.

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Distributed type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism

Cited by 50 publications

References 2 publications

Optimization and simulation of a bionic fish tail driving system based on linear hypocycloid with hydrodynamics

Optimization and simulation of a bionic fish tail driving system based on linear hypocycloid with hydrodynamics

A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds

Modeling and control of a jellyfish-inspired AUV

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