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Proceedings Paper

Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators
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Paper Abstract

The purpose of this study is improvement of a fish robot actuated by four light-weight piezocomposite actuators (LIPCAs). In the fish robot, we developed a new actuation mechanism working without any gear and thus the actuation mechanism was simple in fabrication. By using the new actuation mechanism, cross section of the fish robot became 30% smaller than that of the previous model. Performance tests of the fish robot in water were carried out to measure tail-beat angle, thrust force, swimming speed and turning radius for tail-beat frequencies from 1Hz to 5Hz. The maximum swimming speed of the fish robot was 7.7 cm/s at 3.9Hz tail-beat frequency. Turning experiment showed that swimming direction of the fish robot could be controlled with 0.41 m turning radius by controlling tail-beat angle.

Paper Details

Date Published: 6 April 2009
PDF: 10 pages
Proc. SPIE 7288, Active and Passive Smart Structures and Integrated Systems 2009, 72880J (6 April 2009); doi: 10.1117/12.815879
Show Author Affiliations
Quang Sang Nguyen, Konkuk Univ. (Korea, Republic of)
Seok Heo, Konkuk Univ. (Korea, Republic of)
Hoon Cheol Park, Konkuk Univ. (Korea, Republic of)
Nam Seo Goo, Konkuk Univ. (Korea, Republic of)
Doyoung Byun, Konkuk Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 7288:
Active and Passive Smart Structures and Integrated Systems 2009
Mehdi Ahmadian; Mehrdad N. Ghasemi-Nejhad, Editor(s)

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