Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators

Quang Sang Nguyen; Seok Heo; Hoon Cheol Park; Nam Seo Goo; Doyoung Byun

doi:10.1117/12.815879

6 April 2009 Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators

Quang Sang Nguyen, Seok Heo, Hoon Cheol Park, Nam Seo Goo, Doyoung Byun

Author Affiliations +

Proceedings Volume 7288, Active and Passive Smart Structures and Integrated Systems 2009; 72880J (2009) https://doi.org/10.1117/12.815879
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2009, San Diego, California, United States

Abstract

The purpose of this study is improvement of a fish robot actuated by four light-weight piezocomposite actuators (LIPCAs). In the fish robot, we developed a new actuation mechanism working without any gear and thus the actuation mechanism was simple in fabrication. By using the new actuation mechanism, cross section of the fish robot became 30% smaller than that of the previous model. Performance tests of the fish robot in water were carried out to measure tail-beat angle, thrust force, swimming speed and turning radius for tail-beat frequencies from 1Hz to 5Hz. The maximum swimming speed of the fish robot was 7.7 cm/s at 3.9Hz tail-beat frequency. Turning experiment showed that swimming direction of the fish robot could be controlled with 0.41 m turning radius by controlling tail-beat angle.

Citation Download Citation

Quang Sang Nguyen, Seok Heo, Hoon Cheol Park, Nam Seo Goo, and Doyoung Byun "Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators", Proc. SPIE 7288, Active and Passive Smart Structures and Integrated Systems 2009, 72880J (6 April 2009); https://doi.org/10.1117/12.815879

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