Robot Fish with Novel Wire-Driven Continuum Flapping Propulsor

Abstract:

Article Preview

This paper presents a robot fish with a novel continuum flapping propulsor. It is actuated by the biomimetic wire-driven mechanism. The fish tail is made from a continuous elastic plate. One pair of wire is used to control the tail flapping. Compared with the traditional multi-joint design, in this design the flapping motion could better fit the fish swimming curve, as a result improving the propulsion efficiency. Results show that the propulsion efficiency of the robot could reach 64.4%.

Info:

Periodical:

Edited by:

Ching Kuo Wang and Jing Guo

Pages:

510-514

Citation:

Z. Li et al., "Robot Fish with Novel Wire-Driven Continuum Flapping Propulsor", Applied Mechanics and Materials, Vols. 300-301, pp. 510-514, 2013

Online since:

February 2013

Export:

Price:

$41.00

[1] Triantafyllou, M. S. Triantafyllo, George S. An efficient swimming machine, Scientific American, Vol. 271, Issue 3, Mar. 1995, pp.64-70.

[2] Junzhi Yu, Min Tan, etc., Development of a biomimetic robotic fish and its control algorithm, IEEE Trans. on Systems, Man, and Cybernetics – part B: Cybernetics, Vol. 34, No. 4, 2004, pp.1798-1810.

DOI: https://doi.org/10.1109/tsmcb.2004.831151

[3] E. Mbemmo, Z. Chen, S. Shatara and X. B. Tan, Modeling of Biomimetic Robotic Fish Propelled by an Ionic Polymer-Metal Composite Actuator, 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, May 19-23, 2008, pp.689-694.

DOI: https://doi.org/10.1109/robot.2008.4543285

[4] Z. L. Wang, G. R. Hang, J. Li, el. A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin, Sensors and Actuators A: Physical, Vol. 144, 2008, pp.354-360.

DOI: https://doi.org/10.1016/j.sna.2008.02.013

[5] Z. Li, R. Du, M. C. Lei, S. M. Yuan, Design and Analysis of a Biomimetic Wire-Driven Robot Arm, Proceedings of the ASME 2011 International Mechanical Engineering Congress & Exposition, IMECE2011, Denver, Colorado, USA, Nov. 11-17, (2011).

[6] Z. Li, R. Du, Design and Analysis of a Biomimetic Wire-Driven Flapping Propeller, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun. 24-27, Roma, Italy, pp.276-281.

DOI: https://doi.org/10.1109/biorob.2012.6290774

[7] M. J. Lighthill, Note on the swimming of slender fish, Journal of Fluid Mechanics, Vol. 9, part 2, 1960, pp.305-317.

[8] Cheng JY, Blickhan R., Note on the calculation of propeller efficiency using elongated body theory, J. of Exp. Biology, 1994, Jul., 192(1), pp.169-177.

[9] Z. Li, W.Q. Gao, R. Du, B.F. Liao, Design and Analysis of a Wire-Driven Robot Tadpole, Proceedings of the ASME 2012 International Mechanical Engineering Congress & Exposition, IMECE2012, Houston, Texas, USA, Nov. 9-15, (2012).