Abstract
This paper proposed a concept of flexible wing-mechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of the wings is controlled and then the fluid resistance will be changed. Then, we can control the posture of the robot. The wing mechanism is constructed mainly from flexible materials. Thus, range of the fluid resistance becomes different between the high speed flow and low speed flow. In the fast flow condition, flexible wing mechanism is compressed and the range of the shape control becomes low. Then, the mechanism can control the posture of the robot under the various flow speeds.
| Original language | English |
|---|---|
| Title of host publication | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2673-2678 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781479973965 |
| DOIs | |
| Publication status | Published - Apr 20 2014 |
| Event | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: Dec 5 2014 → Dec 10 2014 |
Publication series
| Name | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
|---|
Other
| Other | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
|---|---|
| Country | Indonesia |
| City | Bali |
| Period | 12/5/14 → 12/10/14 |
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All Science Journal Classification (ASJC) codes
- Biotechnology
- Artificial Intelligence
- Human-Computer Interaction
Cite this
A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds. / Ishibashi, Ryota; Ochi, Hiroaki; Oda, Takahiko; Okuda, Ryuji; Umeda, Katsuya; Tahara, Kenji; Kino, Hitoshi; Kojima, Akira.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2673-2678 7090746 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds
AU - Ishibashi, Ryota
AU - Ochi, Hiroaki
AU - Oda, Takahiko
AU - Okuda, Ryuji
AU - Umeda, Katsuya
AU - Tahara, Kenji
AU - Kino, Hitoshi
AU - Kojima, Akira
PY - 2014/4/20
Y1 - 2014/4/20
N2 - This paper proposed a concept of flexible wing-mechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of the wings is controlled and then the fluid resistance will be changed. Then, we can control the posture of the robot. The wing mechanism is constructed mainly from flexible materials. Thus, range of the fluid resistance becomes different between the high speed flow and low speed flow. In the fast flow condition, flexible wing mechanism is compressed and the range of the shape control becomes low. Then, the mechanism can control the posture of the robot under the various flow speeds.
AB - This paper proposed a concept of flexible wing-mechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of the wings is controlled and then the fluid resistance will be changed. Then, we can control the posture of the robot. The wing mechanism is constructed mainly from flexible materials. Thus, range of the fluid resistance becomes different between the high speed flow and low speed flow. In the fast flow condition, flexible wing mechanism is compressed and the range of the shape control becomes low. Then, the mechanism can control the posture of the robot under the various flow speeds.
UR - http://www.scopus.com/inward/record.url?scp=84983203451&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84983203451&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2014.7090746
DO - 10.1109/ROBIO.2014.7090746
M3 - Conference contribution
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 2673
EP - 2678
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
ER -