An Untethered Bionic Robotic Fish Using SMA Actuators

Xiaojie Chen, Hiroki Shigemune, Hideyuki Sawada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The authors develop a bionic robotic fish that has a soft tail using smart material as an actuator. Two sets of shape memory alloy (SMA) wires are stitched inside of the soft tail, which would let the tail bend in both sides. The designed structure is expected to gain the ability to imitate the swimming posture of a real fish in the water to swim straight and could turn left and right by employing the body and the caudal fin (BCF mode). The streamline of the body and head part are designed by a 3D CAD, and then printed by a high precision 3D-printer. The robotic fish system is governed by an infrared remote controller, which sends signals to a micro Arduino computer inside the fish body for controlling the swimming motion and the speed. We study the relations between the control signals and the robotic swimming behavior. The swimming motion under a low and a high frequency are analyzed.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1768-1773
Number of pages6
ISBN (Electronic)9781728164151
DOIs
Publication statusPublished - 2020 Oct 13
Event17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China
Duration: 2020 Oct 132020 Oct 16

Publication series

Name2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
CountryChina
CityBeijing
Period20/10/1320/10/16

Keywords

  • Bionic robots
  • Fluid mechanics
  • Shape memory alloy
  • Soft actuator
  • Swimming robots

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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