Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage-Reference-Cited by-同舟云学术

Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage

Published:2014-06-20 Issue:3 Volume:26 Page:349-357
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Yamano Akio, ,Shintani Atsuhiko,Ito Tomohiro,Nakagawa Chihiro,

Abstract

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/08.jpg"" width=""300"" />Analytical model</span></div> A flexible fish-like biomimetic robot developed for use in narrow passage flows was downsized using shape memory alloy (SMA) actuators. We constructed a fluid-body-coupled model of the robot and considered undulatory swimming and the effect of nonlinear SMA characteristics. An experimental model was also constructed to confirm the analytical model’s feasibility. Shrinkage due to temperature depends on the temperature of the SMA actuator, in which overheating may decrease the fin-vibration amplitude. To avoid this problem, a new driving method was introduced that used a self-excited oscillator with an actuator. Simulation results showed that this method achieves constant thrust in the moving body. </span>

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference16 articles.

1. R. Mason, “Fluid Locomotion and Trajectory Planning for Shape-Changing Robots,” Doctoral paper of California Institute of Technology, p. 2, 2003.

2. A. Crespi, D. Lachat, A. Pasquier, and A. Ijspeert, “Controlling Swimming and Crawling in a Fish Robot,” an Extended Version of an Article Presented at BioRob2006 the First IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics 2008, pp. 1-10, 2008.

3. C. Wang et al., “CPG-Based Locomotion Control of a Robotic Fish: Using Linear Oscillators and Reducing Control Parameters via PSO,” Int. J. of Innovative Computing, Information and Control, Vol.7, No.7, pp. 4237-4249, 2011.

4. N. Kamamichi et al., “A Snake-Like Swimming Robot Using IPMC Actuator/Sensor,” the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 1812-1817, 2006.

5. Z. Wang et al., “A Micro-Robot Fish with Embedded SMA Wire Actuated Flexible Biomimetic Fin,” Sensors and Actuators A, Vol.144, pp. 354-360, 2008.

Cited by 4 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Design of Fin-Curvature-Based Feedback Controller for Efficient Swimming;Journal of Robotics and Mechatronics;2021-08-20

2. Dynamic tracking control of an SMA wire actuator based on model matching;Sensors and Actuators A: Physical;2019-06

3. Reducing the Power Consumption of a Shape Memory Alloy Wire Actuator Drive by Numerical Analysis and Experiment;IEEE/ASME Transactions on Mechatronics;2018-08

4. Study of Driving Method on the Moving Body in Flow Passage Utilizing Traveling Wave based on Self-excited Driving Method;Journal of the Robotics Society of Japan;2015