Design and assessment of a flexible fish robot actuated by shape memory alloys
Design and assessment of a flexible fish robot actuated by shape memory alloys
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DOI：
10.1088/1748-3190/aad0ae
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发表时间：
2018-09-01
影响因子：
3.4
通讯作者：
Castro, Diego
中科院分区：
文献类型：
--
作者：
Coral, William;Rossi, Claudio;Castro, Diego
在本文中，我们提出了一种鱼的水下机器人的启发黑鲈鱼。该机器人由可变形结构和基于形状记忆合金丝的肌肉型线性驱动器组成。这种致动器用于使代表鱼的脊椎的连续结构弯曲。原型还配备了由液体硅橡胶和莱卡超细纤维网制成的生物灵感合成皮肤。我们提出了机电一体化的原型和它的控制方案，它利用弯曲传感器的本体感觉。在不同条件下（在空气中和水中）的实验评估的机电一体化设计的有效性，并表明，一个相对简单的PID控制器提供了高精度的肌肉的位置控制。在这里，仿生运动学和无声驱动技术在仿生水下机器人的实施证明。这项技术的进步可以提供多种应用，包括鱼类养殖，海岸保护和活体动物监测，其中无声机器人是必要的。
In this paper, we present a fish-like underwater robot inspired by the black bass fish. This robot is composed of a deformable structure and muscle-like linear actuators based on shape memory alloy wires. Such actuators are used to bend a continuous structure representing the backbone of the fish. The prototype is also equipped with a bio-inspired synthetic skin made of liquid silicone rubber and Lycra microfiber mesh. We present the mechatronics of the prototype and its control scheme, which take advantage of flex sensors for proprioception. Experiments under different conditions (in air and in water) assess the effectiveness of the mechatronics design and demonstrate that a relatively simple PID controller provides high precision of the muscles' position control. Here, the implementation of biomimetic kinematics and silent actuation technology in bio-inspired underwater robotics are demonstrated. Progress in this technology could provide multiple applications, including fish farming, coastal protection and live animal monitoring where silent robotics are necessary.