9 April 2010 Design and demonstration of a fish robot actuated by a SMA-driven actuation system
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Abstract
This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.
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Chan Hoang Le, Quang Sang Nguyen, and Hoon Cheol Park "Design and demonstration of a fish robot actuated by a SMA-driven actuation system", Proc. SPIE 7643, Active and Passive Smart Structures and Integrated Systems 2010, 76431R (9 April 2010); doi: 10.1117/12.847476; https://doi.org/10.1117/12.847476
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