Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust
Author:
Koiri Mithilesh Kumar1, Dubey Vineet2ORCID, Sharma Anuj Kumar3, Chuchala Daniel4ORCID
Affiliation:
1. Nims Institute of Engineering and Technology, Nims University, Jaipur 303121, India 2. School of Mechatronics Engineering, Symbiosis Skills and Professional University, Pune 412101, India 3. Centre for Advanced Studies, Dr. A. P. J. Abdul Kalam Technical University, Lucknow 226031, India 4. Institute of Manufacturing and Materials Technology, Faculty of Mechanical Engineering and Ship Technology, Gdańsk University of Technology, 1/12 G. Narutowicza Street, 80-233 Gdańsk, Poland
Abstract
Shape memory alloys (SMAs) have become the most common choice for the development of mini- and micro-type soft bio-inspired robots due to their high power-to-weight ratio, ability to be installed and operated in limited space, silent and vibration-free operation, biocompatibility, and corrosion resistance properties. Moreover, SMA spring-type actuators are used for developing different continuum robots, exhibiting high degrees of freedom and flexibility. Spring- or any elastic-material-based antagonistic or biasing force is mostly preferred among all other biasing techniques to generate periodic oscillation of SMA actuator-based robotic body parts. In this model-based study, SMA-based spring-type actuators were used to develop a carangiform-type robotic fishtail. Fin size optimization for the maximization of forward thrust was performed for the developed system by varying different parameters, such as caudal fin size, current through actuators, pulse-width modulation signal (PWM), and operating depth. A caudal fin with a mixed fin pattern between the Lunate and Fork “Lunafork” and a fin area of approximately 5000 mm2 was found to be the most effective for the developed system. The maximum forward thrust developed by this fin was recorded as 40 gmf at an operation depth of 12.5 cm in a body of still water.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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