Design and Fabrication of Soft Morphing Ray Propulsor: Undulator and Oscillator.
Design and Fabrication of Soft Morphing Ray Propulsor: Undulator and Oscillator.
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DOI：
10.1089/soro.2016.0033
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发表时间：
2017-03
期刊：
影响因子：
7.9
通讯作者：
Hyungsoo Kim;Jang-Yeob Lee;W. Chu;Sung-hoon Ahn
中科院分区：
文献类型：
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作者：
Hyungsoo Kim;Jang-Yeob Lee;W. Chu;Sung-hoon Ahn
设计并制造了一种能在胸鳍中产生波动运动的柔性变形射线推进器。推进器采用形状记忆合金作驱动，机体由软聚合物制成。为了确定波动对翅片的影响，使用不同的聚合物材料制作了两个在波动存在方面不同的模型。用测功机对实验模型进行了测试，以测量和比较推力趋势。在不同的鳍拍频率下进行了推力测量。根据实验数据，提出了射线机器人独立优化的概念，并制作了原型机。该机器人能够以每秒0.26个体长的速度游泳，比其他基于智能材料的射线状水下机器人效率高38%。
A soft morphing ray propulsor capable of generating an undulating motion in its pectoral fins was designed and fabricated. The propulsor used shape memory alloy for actuation, and the body was made with soft polymers. To determine the effects of undulation in the fins, two models that differed in terms of the presence of undulation were fabricated using different polymer materials. The experimental models were tested with a dynamometer to measure and compare thrust tendencies. Thrust measurements were conducted with various fin beat frequencies. Using the experimental data, the concept of an optimized standalone version of the ray robot was suggested and its prototype was fabricated. The fabricated robot was able to swim as fast as 0.26 body length per second and 38% more efficient than other smart material-based ray-like underwater robots.