Initial Design of a Biomimetic Cuttlefish Robot Actuated by SMA Wires

This article describes the initial design of a biomimetic cuttlefish robot. The robot has a similar streamlined shape as cuttlefish, propelled by the complex of the biomimetic undulatory level pectoral fin and the water-jetting. Firstly, the morphology and swimming theory of cuttlefish is analyzed. Secondly, the overall structure of the biomimetic cuttlefish robot is designed and the three-dimensional model is simulated by software FLUENT. Finally, the biomimetic level pectoral fin and the biomimetic mantle actuated by SMA wires are designed. The propulsive thrust and the propulsive efficiency are analyzed. The results show that the robot has good hydrodynamic performance, can achieve slow swimming speed with high efficiency by the level pectoral fin. When the swimming speed is 0.18 m/s, the propulsive fore is 0.047 N, the propulsive efficiency is 89%. It can also achieve high swimming speed relying on jetting propulsion. The maximum propulsive force is 0.79 N and the maximum swimming speed is above 0.6 m/s, the propulsive efficiency is 31%.