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Bio-inspired aquatic robotics by untethered piezohydroelastic actuation
1G W Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA. alper.erturk@me.gatech.edu
Bioinspiration & Biomimetics
|January 26, 2013
Summary
Researchers developed a robotic fish using flexible piezoelectric bimorphs for efficient, carangiform locomotion. This bio-inspired robot achieves thrust comparable to natural fish and demonstrates untethered swimming capabilities.
Area of Science:
- Robotics
- Bio-inspired Engineering
- Materials Science
Background:
- Traditional aquatic robots often face limitations in efficiency and biomimicry.
- Flexible piezoelectric bimorphs offer advantages like noiseless actuation, scalability, and a balance of force and velocity.
Purpose of the Study:
- To investigate the use of macro-fiber composite (MFC) piezoelectric bimorphs for carangiform locomotion in aquatic robots.
- To develop and test a robotic fish prototype capable of untethered swimming and maneuvering.
Main Methods:
- Characterization of an elastically constrained MFC bimorph propulsor for thrust generation.
- Development of a robotic fish prototype with a microcontroller and amplifier for high actuation voltage.
- Coupling of a distributed-parameter electroelastic model with elongated-body theory to predict thrust.
- Experimental verification of hydrodynamic effects and thrust prediction for linear and nonlinear actuation regimes.
Main Results:
- Measured mean thrust levels (∼10 mN) in quiescent water favorably compare with biological fish.
- An untethered robotic fish prototype achieved a swimming speed of 0.3 body-length/second (7.5 cm/s).
- The prototype demonstrated straight swimming and turning motions using a single bimorph caudal fin.
Conclusions:
- MFC bimorphs are effective for generating thrust in bio-inspired aquatic robots.
- The developed robotic fish prototype shows promise for efficient and maneuverable underwater locomotion.
- This research advances the field of fish-like robotics through novel actuator design and integrated modeling.
