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Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

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Development of a Variable-Configuration Bionic Robotic Fish.

Dan Xia¹, Yuyao Li¹, Zhihan Li¹

¹School of Mechanical Engineering, Southeast University, Nanjing 210096, China.

Biomimetics (Basel, Switzerland)

|September 27, 2023

Summary

This summary is machine-generated.

This study introduces a novel pneumatic soft bionic fish capable of variable configurations. The robotic fish, inspired by cownose rays and jack fish, demonstrates effective underwater propulsion and turning in both designs.

Keywords:

bionic robotic fish flexible fins pectoral fin slap propulsion tail fin swing propulsion variable configurations

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Area of Science:

Robotics
Biomimetics
Soft Actuation

Background:

Traditional underwater propulsion methods are limited.
Existing bionic fish often use a single propulsion mode, restricting operational versatility.
The need for adaptable underwater robotic systems is growing.

Purpose of the Study:

To design and develop a pneumatic variable-configuration soft bionic fish.
To investigate the feasibility of multi-configuration biomimetic underwater locomotion.
To evaluate the performance of a soft robotic fish inspired by cownose ray and jack fish.

Main Methods:

Designed a soft robotic fish structure using flexible materials.
Integrated pneumatic actuators and variable-configuration modules.
Developed a control system and manufactured a prototype for underwater testing.

Main Results:

The bionic fish successfully achieved linear propulsion and turning in both main (cownose ray) and secondary (jack fish) configurations.
The main configuration reached a maximum propulsion speed of 38.24 mm/s and a turning speed of 5.6°/s.
The secondary configuration achieved a higher maximum propulsion speed of 43.05 mm/s and a turning speed of 30°/s.

Conclusions:

The pneumatic variable-configuration soft bionic fish design is feasible.
The developed control scheme enables effective underwater maneuverability.
This adaptable robotic fish offers potential for diverse underwater operations.