A Soft Robotic Fish Actuated by Artificial Muscle Modules(SoRoFAAM-1)  

作　　者：Moise Raphael Tsimbo Fokou Qirong Xia Hu Jin Min Xu Erbao Dong 

机构地区：[1]CAS Key Laboratory of Mechanical Behavior and Design of Materials,Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei,230026,China

出　　处：《Journal of Bionic Engineering》2023年第5期2030-2043,共14页仿生工程学报（英文版）

基　　金：The authors gratefully acknowledge financial support from the National Science Foundation of China(Nos.61773358)and Cyrus Tang Foundation.

摘　　要：In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.

关 键 词：Soft robotic fish Artificial muscle Shape memory alloy Head swing factor MANEUVERABILITY Bionic fidelity 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]