期刊
SMART MATERIALS AND STRUCTURES
卷 22, 期 1, 页码 -出版社
IOP PUBLISHING LTD
DOI: 10.1088/0964-1726/22/1/014007
关键词
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资金
- Basic Science Research Program [2012-0000348]
- Converging Research Center Program [2012K001368]
- National Leading Research Laboratory through the National Research Foundation of Korea (NRF) [20110029862]
- Ministry of Education, Science, and Technology
This paper describes the development of a biomimetic swimming robot based on the locomotion of a marine turtle. To realize the smooth, soft flapping motions of this type of turtle, a novel actuator was also developed, using a smart soft composite (SSC) structure that can generate bending and twisting motions in a simple, lightweight structure. The SSC structure is a composite consisting of an active component to generate the actuation force, a passive component to determine the twisting angle of the structure, and a matrix to combine the components. The motion of such a structure can be designed by specifying the angle between a filament of the scaffold structure and a shape-memory alloy (SMA) wire. The bending and twisting motion of the SSC structure is explained in terms of classical laminate theory, and cross-ply and angled-ply structures were fabricated to evaluate its motion. Finally, the turtle-like motion of a swimming robot was realized by employing a specially designed SSC structure. To mimic the posterior positive twisting angle of a turtle's flipper during the upstroke, the SMA wire on the upper side was offset, and a positive ply-angled scaffold was used. Likewise, for the anterior negative twisting angle of the flipper during the downstroke, an offset SMA wire on the lower side and a positive ply-angled scaffold were also required. The fabricated flipper's length is 64.3 mm and it realizes 55 mm bending and 24 degrees twisting. The resulting robot achieved a swimming speed of 22.5 mm s(-1).
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