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Proceedings Paper

Design and demonstration of a fish robot actuated by a SMA-driven actuation system
Author(s): Chan Hoang Le; Quang Sang Nguyen; Hoon Cheol Park
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Paper Abstract

This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

Paper Details

Date Published: 10 April 2010
PDF: 11 pages
Proc. SPIE 7643, Active and Passive Smart Structures and Integrated Systems 2010, 76431R (10 April 2010); doi: 10.1117/12.847476
Show Author Affiliations
Chan Hoang Le, Konkuk Univ. (Korea, Republic of)
Quang Sang Nguyen, Konkuk Univ. (Korea, Republic of)
Hoon Cheol Park, Konkuk Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 7643:
Active and Passive Smart Structures and Integrated Systems 2010
Mehrdad N. Ghasemi-Nejhad, Editor(s)

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