Title :
A micro biomimetic manta ray robot fish actuated by SMA
Author :
Wang, Zhenlong ; Wang, Yangwei ; Li, Jian ; Hang, Guanrong
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
The paper presented a design of a micro biomimetic manta ray robot fish actuated by shape memory alloy (SMA) wire, verified that SMA wire is a feasible actuator. The robot fish is quitely similar to manta ray in shape. It also have a flat-form body and a pair of triangular flexible pectoral fins. In our experiment, we researched the flexible pectoral fin shape change, and then the forward swimming and turning swimming performance were evaluated. We also give the results of the robot fish´s speed and amplitude in different actuating pulse width. It can swim with good stability and stealthily. The micro biomimetic manta ray robot fish is suitable to do investigation in narrow space of the ocean.
Keywords :
actuators; biomimetics; marine systems; microrobots; mobile robots; robot kinematics; shape memory effects; stability; SMA; actuating pulse width; flat form body; forward swimming; micro biomimetic manta ray robot fish; shape memory alloy wire; stability; stealthily; triangular flexible pectoral fin; turning swimming; Actuators; Biomimetics; Marine animals; Orbital robotics; Robots; Shape memory alloys; Space vector pulse width modulation; Stability; Turning; Wire;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420423
