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A soft robotic fish Actuated by Artificial Muscle Modules(SoRoFAAM-1)

Journal of Bionic Engineering 2023年第5期20卷 2030-2043页

作者： Moise Raphael Tsimbo Fokou Qirong Xia Hu Jin Min Xu Erbao Dong CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Precision Machinery and Precision InstrumentationUniversity of Science and Technology of ChinaHefei230026China

In this paper,we present the design,fabrication,locomotion and bionic analysis of a soft robotic fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding *** actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)*** artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different *** design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from *** improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating ***,the thermomechanical model of actuator is built,and the thermal transformation is *** relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are *** versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning ***,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.

关键词： soft robotic fish Artificial muscle Shape memory alloy Head swing factor Maneuverability Bionic fidelity

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Bionic Body Wave Control for an Eel-Like Robot Based on Segmented soft Actuator Array

Bionic Body Wave Control for an Eel-Like Robot Based on Segm...

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第40届中国控制会议

作者： Ronghao Dang Haisong Gong Yuxin Wang Tianyi Huang Zhuofan Shi Xinwen Zhang Yunfeng Wu Yi Sun Peng Qi Tongji University University of Twente Australian Center for Field robotics and Sydney Institute for robotics and Intelligent Systems University of Sydney

Using body wave to swing forward is the most common propulsion method for underwater creatures,which can achieve flexible swing and multi-directional *** robotics researches in recent years employed rigid structure and hinge connection to build the entire swing body,which were driven by conventional ***,soft robotics provides an alternative to make the robot behave like a bionic fish in terms of swing flexibility,actuation and *** this article,the authors develop the entire eel-like fish with a fully soft flexible body,which is composed of four fiber-reinforced,bidirectionally bending,fluidic elastomer actuators（FEAs） as its *** robotic fish tail has multiple segments connected in series with different waveforms to make the overall fish tail exhibit fluctuating forward *** FEA uses the typical dual-chamber configuration,and PWM sine wave signals are utilized to effectively control such a hydraulic *** experiments,the swing of each tail section is tested,and various factors with respect to the swing frequency and amplitude are *** results illustrate the feasibility and superiority of the proposed body wave control method.

关键词： body wave control soft robotic fish FEAs

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