Bending continuous structures with SMAs: a novel robotic fish design

Rossi, Claudio; Colorado Montaño, Julián; Coral Cuellar, William y Barrientos Cruz, Antonio (2011). Bending continuous structures with SMAs: a novel robotic fish design. "Bioinspiration & Biomimetics", v. 6 (n. 4); pp. 1-15. ISSN 1748-3190. https://doi.org/10.1088/1748-3182/6/4/045005.

Descripción

Título: Bending continuous structures with SMAs: a novel robotic fish design
Autor/es:
  • Rossi, Claudio
  • Colorado Montaño, Julián
  • Coral Cuellar, William
  • Barrientos Cruz, Antonio
Tipo de Documento: Artículo
Título de Revista/Publicación: Bioinspiration & Biomimetics
Fecha: Diciembre 2011
Volumen: 6
Materias:
Palabras Clave Informales: Robot Bio-inspired Bio-mimetic Deformation and plasticity Servo and control equipment; robots 45.40.Ln Robotics
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - No comercial

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Resumen

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators’ control in terms of actuation speed and position accuracy is also addressed.

Más información

ID de Registro: 9789
Identificador DC: http://oa.upm.es/9789/
Identificador OAI: oai:oa.upm.es:9789
Identificador DOI: 10.1088/1748-3182/6/4/045005
URL Oficial: http://stacks.iop.org/1748-3190/6/045005
Depositado por: Antonio Barrientos
Depositado el: 01 Dic 2011 07:23
Ultima Modificación: 10 Mar 2017 10:04
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