A micro biomimetic manta ray robot fish actuated by SMA

摘要：

The paper presented a design of a micro biomimetic manta ray robot fish actuated by shape memory alloy SMA wire, verified that SMA wire is a feasible actuator. The robot fish is quitely similar to manta ray in shape. It also have a flat-form body and a pair of triangular flexible pectoral fins. In our experiment, we researched the flexible pectoral fin shape change, and then the forward swimming and turning swimming performance were evaluated. We also give the results of the robot fishs speed and amplitude in different actuating pulse width. It can swim with good stability and stealthily. The micro biomimetic manta ray robot fish is suitable to do investigation in narrow space of the ocean.

作者: Zhenlong Wang Yangwei Wang Jian Li Guanrong Hang

作者单位: State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1809-1813

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）