Smart Structures and Systems

  • 제10권6호
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  • Pages.501-515
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  • 2012
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  • 1738-1584(pISSN)
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  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
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A SMA-based actuation system for a fish robot

  • 투고 : 2011.04.02
  • 심사 : 2012.08.17
  • 발행 : 2012.12.25
⟨ 이전 논문 다음 논문 ⟩

초록

We design and test a shape memory alloy (SMA)-based actuation system that can be used to propel a fish robot. The actuator in the system is composed of a 0.1 mm diameter SMA wire, a 0.5 mm-thick glass/epoxy composite strip, and a fixture frame. The SMA wire is installed in a pre-bent composite strip that provides initial tension to the SMA wire. The actuator can produce a blocking force of about 200 gram force (gf) and displacement of 3.5 mm at the center of the glass/epoxy strip for an 8 V application. 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 tail-beat motion. The tail-beat angle is about $20^{\circ}$, the maximum swimming speed is about 1.6 cm/s, and the measured average thrust is about 0.4 gf when the fish robot is operated at 0.9 Hz.

키워드

과제정보

연구 과제 주관 기관 : Korea Research Foundation

참고문헌

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