Initial Prototype Design and Investigation of an Undulating Body by SMA

Design, development, and experimental investigations of an undulating finned body system are presented for alternate means of propulsion using shape memory alloys (SMA) as actuators. The undulating waveform of the anguilliform mode was chosen as the design and development of a biomimetic undulating system. The designed body consists of three segments made of flexible polyurethane, which is actuated and controlled using shape memory alloy wires. Several iterations in design and experiments were conducted by controlling the current and frequency parameters to obtain a desired undulating segment that emulated the anguilliform wave motions. Initial design details and experimental results of the undulating segments are presented and discussed.