Memorias de investigación
Communications at congresses:
Bio-inspired Morphing Caudal Fin Using Shape Memory Alloy Composites for a Fish-like Robot
Year:2015

Research Areas
  • Engineering,
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. The pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. The caudal fin actuator was inspired by Largemouth Bass, which utilizes subcaranguiform mode swimming and the caudal fin during steady swimming and maneuvering.
International
Si
Congress
ICINCO-12th International Conference on Informatics in Control, Automation and Robotics
960
Place
Reviewers
Si
ISBN/ISSN
Start Date
21/07/2015
End Date
23/07/2015
From page
To page
Participants

Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial