Bending continuous structures with SMAs: a novel robotic fish design

Rossi, Claudio ORCID: https://orcid.org/0000-0002-8740-2453, Colorado Montaño, Julián, Coral Cuellar, William and Barrientos Cruz, Antonio ORCID: https://orcid.org/0000-0003-1691-3907 (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.

Description

Title: Bending continuous structures with SMAs: a novel robotic fish design
Author/s:
Item Type: Article
Título de Revista/Publicación: Bioinspiration & Biomimetics
Date: December 2011
ISSN: 1748-3190
Volume: 6
Subjects:
Freetext Keywords: Robot Bio-inspired Bio-mimetic Deformation and plasticity Servo and control equipment; robots 45.40.Ln Robotics
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - Non commercial

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Abstract

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.

More information

Item ID: 9789
DC Identifier: https://oa.upm.es/9789/
OAI Identifier: oai:oa.upm.es:9789
DOI: 10.1088/1748-3182/6/4/045005
Official URL: http://stacks.iop.org/1748-3190/6/045005
Deposited by: Antonio Barrientos
Deposited on: 01 Dec 2011 07:23
Last Modified: 10 Mar 2017 10:04
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