Analysis and Testing of Shape Memory Alloy Driven Biorobotic Fish Fins with Multi Propulsion Modes
Biomimetic design takes principles from nature to employ in engineering problems.However,the emulation of specific biological devices poses a great challenge because of complicated,arbitrary,and over-redundant designs.Smart material driven mechanisms are of immediate appeal in addressing the problem of complex,biomimetic deformation because of their inherent flexibility.Here,Shape Memory Alloys(SMAs)are selected to develop a biologically-inspired robotic fish fin.Shape Memory Alloys are metals,which have the ability to change shape,stiffness,position,natural frequency and other mechanical characteristics in response to temperature.This robotic fin consists of several SMA actuators(“fin rays)arranged in a series and interconnected via a flexible material(“fin membrane).Initial testing has concentrated on two dimensional fin ray motions,whereby each SMA fin ray moves laterally.We achieved active deformation control of our developed biorobotic fish fins,realized multi propulsion modes of this fin such as oscillating and undulating motion.The influence of thickness of SMA fin ray on deformation performance is also tested.
shape memory alloy (SMA) biorobotic fish fins undulating motion oscillating motion
ZHANG Yong-hua Song Yan YANG Jie
Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei,China 230026
国际会议
The World Forum on Smart Materials and Smart Structures Technology(SMSST07)(2007年世界智能材料与智能结构技术论坛)
重庆·南京
英文
2007-05-01（万方平台首次上网日期，不代表论文的发表时间）