Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust
Shape memory alloys (SMAs) have become the most common choice for the development of mini- and micro-type soft bio-inspired robots due to their high power-to-weight ratio, ability to be installed and operated in limited space, silent and vibration-free operation, biocompatibility, and corrosion resi...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-01-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/24/2/544 |
| _version_ | 1797339327159599104 |
|---|---|
| author | Mithilesh Kumar Koiri Vineet Dubey Anuj Kumar Sharma Daniel Chuchala |
| author_facet | Mithilesh Kumar Koiri Vineet Dubey Anuj Kumar Sharma Daniel Chuchala |
| author_sort | Mithilesh Kumar Koiri |
| collection | DOAJ |
| description | Shape memory alloys (SMAs) have become the most common choice for the development of mini- and micro-type soft bio-inspired robots due to their high power-to-weight ratio, ability to be installed and operated in limited space, silent and vibration-free operation, biocompatibility, and corrosion resistance properties. Moreover, SMA spring-type actuators are used for developing different continuum robots, exhibiting high degrees of freedom and flexibility. Spring- or any elastic-material-based antagonistic or biasing force is mostly preferred among all other biasing techniques to generate periodic oscillation of SMA actuator-based robotic body parts. In this model-based study, SMA-based spring-type actuators were used to develop a carangiform-type robotic fishtail. Fin size optimization for the maximization of forward thrust was performed for the developed system by varying different parameters, such as caudal fin size, current through actuators, pulse-width modulation signal (PWM), and operating depth. A caudal fin with a mixed fin pattern between the Lunate and Fork “Lunafork” and a fin area of approximately 5000 mm<sup>2</sup> was found to be the most effective for the developed system. The maximum forward thrust developed by this fin was recorded as 40 gmf at an operation depth of 12.5 cm in a body of still water. |
| first_indexed | 2024-03-08T09:46:22Z |
| format | Article |
| id | doaj.art-3260844c63ea43208a7cae1f94ca6a7a |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-08T09:46:22Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3260844c63ea43208a7cae1f94ca6a7a2024-01-29T14:16:10ZengMDPI AGSensors1424-82202024-01-0124254410.3390/s24020544Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward ThrustMithilesh Kumar Koiri0Vineet Dubey1Anuj Kumar Sharma2Daniel Chuchala3Nims Institute of Engineering and Technology, Nims University, Jaipur 303121, IndiaSchool of Mechatronics Engineering, Symbiosis Skills and Professional University, Pune 412101, IndiaCentre for Advanced Studies, Dr. A. P. J. Abdul Kalam Technical University, Lucknow 226031, IndiaInstitute of Manufacturing and Materials Technology, Faculty of Mechanical Engineering and Ship Technology, Gdańsk University of Technology, 1/12 G. Narutowicza Street, 80-233 Gdańsk, PolandShape memory alloys (SMAs) have become the most common choice for the development of mini- and micro-type soft bio-inspired robots due to their high power-to-weight ratio, ability to be installed and operated in limited space, silent and vibration-free operation, biocompatibility, and corrosion resistance properties. Moreover, SMA spring-type actuators are used for developing different continuum robots, exhibiting high degrees of freedom and flexibility. Spring- or any elastic-material-based antagonistic or biasing force is mostly preferred among all other biasing techniques to generate periodic oscillation of SMA actuator-based robotic body parts. In this model-based study, SMA-based spring-type actuators were used to develop a carangiform-type robotic fishtail. Fin size optimization for the maximization of forward thrust was performed for the developed system by varying different parameters, such as caudal fin size, current through actuators, pulse-width modulation signal (PWM), and operating depth. A caudal fin with a mixed fin pattern between the Lunate and Fork “Lunafork” and a fin area of approximately 5000 mm<sup>2</sup> was found to be the most effective for the developed system. The maximum forward thrust developed by this fin was recorded as 40 gmf at an operation depth of 12.5 cm in a body of still water.https://www.mdpi.com/1424-8220/24/2/544robotic fishSMAunderwater robotorigamismart material |
| spellingShingle | Mithilesh Kumar Koiri Vineet Dubey Anuj Kumar Sharma Daniel Chuchala Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust Sensors robotic fish SMA underwater robot origami smart material |
| title | Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust |
| title_full | Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust |
| title_fullStr | Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust |
| title_full_unstemmed | Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust |
| title_short | Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust |
| title_sort | design of a shape memory alloy based carangiform robotic fishtail with improved forward thrust |
| topic | robotic fish SMA underwater robot origami smart material |
| url | https://www.mdpi.com/1424-8220/24/2/544 |
| work_keys_str_mv | AT mithileshkumarkoiri designofashapememoryalloybasedcarangiformroboticfishtailwithimprovedforwardthrust AT vineetdubey designofashapememoryalloybasedcarangiformroboticfishtailwithimprovedforwardthrust AT anujkumarsharma designofashapememoryalloybasedcarangiformroboticfishtailwithimprovedforwardthrust AT danielchuchala designofashapememoryalloybasedcarangiformroboticfishtailwithimprovedforwardthrust |