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
N1 - Publisher Copyright:
© 2014 IEEE.
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.
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U2 - 10.1109/ROBIO.2014.7090746
DO - 10.1109/ROBIO.2014.7090746
M3 - Conference contribution
AN - SCOPUS:84983203451
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.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -