27 April 2007 Experimental parametric study of a biomimetic fish robot actuated by piezoelectric actuators
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Abstract
This paper presents an experiment and parametric study of a biomimetic fish robot actuated by the Lightweight Piezocomposite Actuator (LIPCA). The biomimetic aspects in this work are the oscillating tail beat motion and shape of caudal fin. Caudal fins that resemble fins of BCF (Body and Caudal Fin) mode fish were made in order to perform parametric study concerning the effect of caudal fin characteristics on thrust production at an operating frequency range. The observed caudal fin characteristics are the shape, stiffness, area, and aspect ratio. It is found that a high aspect ratio caudal fin contributes to high swimming speed. The robotic fish propelled by artificial caudal fins shaped after thunniform-fish and mackerel caudal fins, which have relatively high aspect ratio, produced swimming speed as high as 2.364 cm/s and 2.519 cm/s, respectively, for a 300 Vp-p input voltage excited at 0.9 Hz. Thrust performance of the biomimetic fish robot is examined by calculating Strouhal number, Froude number, Reynolds number, and power consumption.
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T. Wiguna, Hoon C. Park, S. Heo, Nam S. Goo, "Experimental parametric study of a biomimetic fish robot actuated by piezoelectric actuators", Proc. SPIE 6525, Active and Passive Smart Structures and Integrated Systems 2007, 65250R (27 April 2007); doi: 10.1117/12.715542; https://doi.org/10.1117/12.715542
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KEYWORDS
Robotics

Biomimetics

Actuators

Oscilloscopes

Finite element methods

Resistors

Animal model studies

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