A micro biomimetic manta ray robot fish actuated by SMA

Author

Wang, Zhenlong ; Wang, Yangwei ; Li, Jian ; Hang, Guanrong

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2009

Firstpage

1809

Lastpage

1813

Abstract

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 fish´s 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.

Keywords

actuators; biomimetics; marine systems; microrobots; mobile robots; robot kinematics; shape memory effects; stability; SMA; actuating pulse width; flat form body; forward swimming; micro biomimetic manta ray robot fish; shape memory alloy wire; stability; stealthily; triangular flexible pectoral fin; turning swimming; Actuators; Biomimetics; Marine animals; Orbital robotics; Robots; Shape memory alloys; Space vector pulse width modulation; Stability; Turning; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420423

Filename

5420423