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Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust
Mithilesh Kumar Koiri1, Vineet Dubey2, Anuj Kumar Sharma3
1Nims Institute of Engineering and Technology, Nims University, Jaipur 303121, India.
Sensors (Basel, Switzerland)
|January 23, 2024
Summary
Shape memory alloy (SMA) soft robots mimic fish tails for efficient propulsion. Optimized "Lunafork" fins generated maximum forward thrust, advancing bio-inspired robotics.
Area of Science:
- Robotics
- Materials Science
- Bio-inspired Engineering
Background:
- Shape memory alloys (SMAs) are ideal for mini/micro soft robots due to their power-to-weight ratio and biocompatibility.
- SMA spring-type actuators enable high-DOF, flexible continuum robots.
- Elastic material-based biasing is preferred for periodic oscillation in SMA actuators.
Purpose of the Study:
- To develop a carangiform-type robotic fishtail using SMA spring-type actuators.
- To optimize fin size for maximum forward thrust in a robotic fish tail.
- To investigate the influence of fin size, current, PWM, and depth on robotic fish performance.
Main Methods:
- Model-based simulation of SMA spring-type actuators.
- Development of a carangiform robotic fishtail model.
- Parameter variation including fin size, actuator current, PWM, and operating depth.
- Optimization of caudal fin design for enhanced thrust generation.
Main Results:
- A hybrid "Lunafork" caudal fin pattern was identified as optimal.
- An approximate fin area of 5000 mm² yielded the best results.
- Maximum forward thrust of 40 gmf was achieved at a 12.5 cm operating depth.
Conclusions:
- SMA actuators can effectively power bio-inspired robotic fish.
- Fin design, particularly the "Lunafork" pattern and area, significantly impacts thrust.
- Optimized robotic fishtails show potential for efficient underwater locomotion.
