Design and demonstration of a fish robot actuated by a SMA-driven actuation system

Chan Hoang Le; Quang Sang Nguyen; Hoon Cheol Park

doi:10.1117/12.847476

9 April 2010 Design and demonstration of a fish robot actuated by a SMA-driven actuation system

Chan Hoang Le, Quang Sang Nguyen, Hoon Cheol Park

Proceedings Volume 7643, Active and Passive Smart Structures and Integrated Systems 2010; 76431R (2010) https://doi.org/10.1117/12.847476
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2010, San Diego, California, United States

Abstract

This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

Citation Download Citation

Chan Hoang Le, Quang Sang Nguyen, and Hoon Cheol Park "Design and demonstration of a fish robot actuated by a SMA-driven actuation system", Proc. SPIE 7643, Active and Passive Smart Structures and Integrated Systems 2010, 76431R (9 April 2010); https://doi.org/10.1117/12.847476

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