In this research work, it has been designed a bionic robot fish structure, can swim underwater. The active compact body is powered by eight sets of symmetric PVC gel actuators with a caudal fin. The robot’s 200 mm-long, fish structure design incorporates a 55.52 angle to optimize the fish dynamics movement. It’s a fast and smooth operation and can swim. The robot can swim fast and quietly by using the right positions and the appropriate actuators on PVC gel actuators. This design entails a unique architecture that enables the robot to move safely and unobtrusively at the same time, which makes it suitable equipment for different exploration and surveillance missions in the water with speed and silent operation as the foremost concern.
References
[1]
Raj, A. and Thakur, A. (2016) Fish-inspired Robots: Design, Sensing, Actuation, and Autonomy—A Review of Research. Bioinspiration & Biomimetics, 11, Article ID: 031001. https://doi.org/10.1088/1748-3190/11/3/031001
[2]
Xie, F., Zuo, Q., Chen, Q., Fang, H., He, K., Du, R., et al. (2021) Designs of the Biomimetic Robotic Fishes Performing Body and/or Caudal Fin (BCF) Swimming Locomotion: A Review. Journal of Intelligent & Robotic Systems, 102, Article No. 3. https://doi.org/10.1007/s10846-021-01379-1
[3]
Duraisamy, P., Kumar Sidharthan, R. and Nagarajan Santhanakrishnan, M. (2019) Design, Modeling, and Control of Biomimetic Fish Robot: A Review. Journal of Bionic Engineering, 16, 967-993. https://doi.org/10.1007/s42235-019-0111-7
[4]
Triantafyllou, M.S. and Triantafyllou, G.S. (1995) An Efficient Swimming Machine. Scientific American, 272, 64-70. https://doi.org/10.1038/scientificamerican0395-64
[5]
Youssef, S.M., Soliman, M., Saleh, M.A., Mousa, M.A., Elsamanty, M. and Radwan, A.G. (2022) Underwater Soft Robotics: A Review of Bioinspiration in Design, Actuation, Modeling, and Control. Micromachines, 13, Article 110. https://doi.org/10.3390/mi13010110
[6]
Zhong, Y., Li, Z. and Du, R. (2017) A Novel Robot Fish with Wire-Driven Active Body and Compliant Tail. IEEE/ASME Transactions on Mechatronics, 22, 1633-1643. https://doi.org/10.1109/tmech.2017.2712820
[7]
Katzschmann, R.K., DelPreto, J., MacCurdy, R. and Rus, D. (2018) Exploration of Underwater Life with an Acoustically Controlled Soft Robotic Fish. Science Robotics, 3, eaar3449. https://doi.org/10.1126/scirobotics.aar3449
[8]
Chen, Z. (2017) A Review on Robotic Fish Enabled by Ionic Polymer-Metal Composite Artificial Muscles. Robotics and Biomimetics, 4, Article No. 24. https://doi.org/10.1186/s40638-017-0081-3
[9]
Li, G., Chen, X., Zhou, F., Liang, Y., Xiao, Y., Cao, X., et al. (2021) Self-powered Soft Robot in the Mariana Trench. Nature, 591, 66-71. https://doi.org/10.1038/s41586-020-03153-z
[10]
Le, C.H., Nguyen, Q.S. and Park, H.C. (2012) A SMA-Based Actuation System for a Fish Robot. Smart Structures and Systems, 10, 501-515. https://doi.org/10.12989/sss.2012.10.6.501
[11]
Gao, F., Wang, Z., Wang, Y., Wang, Y. and Li, J. (2014) A Prototype of a Biomimetic Mantle Jet Propeller Inspired by Cuttlefish Actuated by SMA Wires and a Theoretical Model for Its Jet Thrust. Journal of Bionic Engineering, 11, 412-422. https://doi.org/10.1016/s1672-6529(14)60054-8
[12]
Dong, C., Zhu, Z., Li, Z., Shi, X., Cheng, S. and Fan, P. (2022) Design of Fishtail Structure Based on Oscillating Mechanisms Using PVC Gel Actuators. Sensors and Actuators A: Physical, 341, Article ID: 113588. https://doi.org/10.1016/j.sna.2022.113588
[13]
Ruyhan, A.A.H.N. and Melon, M.M.H. (2024) Optimization of Brake Pedal Mass and Safety Factor Using Topology Optimization Techniques. International Research Journal of Engineering and Technology (IRJET), 11, 478-497.
[14]
Lyu, T. (2022) A Control Method for SMA Robotic Actuators. Journal of Computer and Communications, 10, 103-112. https://doi.org/10.4236/jcc.2022.105007
[15]
Zárate, N., Araujo, A.N., Montenegro, M.C.B.S.M. and Pérez-Olmos, R. (2011) Sequential Injection Analysis of Ampicillin in Pharmaceuticals by Using Potentiometric Detectors Based on PVC and Sol-Gel Membranes. American Journal of Analytical Chemistry, 2, 491-499. https://doi.org/10.4236/ajac.2011.24059
[16]
Li, Y., Guo, M. and Li, Y. (2019) Recent Advances in Plasticized PVC Gels for Soft Actuators and Devices: A Review. Journal of Materials Chemistry C, 7, 12991-13009. https://doi.org/10.1039/c9tc04366g
[17]
Scaradozzi, D., Palmieri, G., Costa, D. and Pinelli, A. (2017) BCF Swimming Locomotion for Autonomous Underwater Robots: A Review and a Novel Solution to Improve Control and Efficiency. Ocean Engineering, 130, 437-453. https://doi.org/10.1016/j.oceaneng.2016.11.055
