Volume 2, Issue 1, March 2017, Page: 1-7
Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA)
Mohammad Eftekhari, Department of Mechanical Engineering, Isfahan University, Isfahan, Iran
Saeed Rahmanian, Department of Mechanical Engineering, Jahrom University, Jahrom, Iran
Pezhman Moradi, Department of Mechanical Engineering, Jahrom University, Jahrom, Iran
Received: Dec. 13, 2016;       Accepted: Jan. 5, 2017;       Published: Jan. 30, 2017
DOI: 10.11648/j.ajdmkd.20170201.11      View  2047      Downloads  62
Pectoral fins have received the attention of many researchers because of their important role in maneuverability underwater in the recent years. This paper presents the study of a novel flexible robotic-fin actuated and the swimming propulsion by Shape Memory Alloy (SMA) inspired by a Koi Carp. In this paper, the morphological and mechanics parameters of a koi Carp pectoral fin from a carp is first studied. The motion of the pectoral fins is analyzed, which are difficult to reproduce by artificial pectoral fins and descending and ascending, the five basic gestures of the robotic fin are well achieved by the coordinating control of the fin base and fin rays, which are relaxation, expansion, bending, cupping and undulation. Secondly, a simplified theoretical model of the SMA fin plate is derived, thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed. Thirdly, Dynamic modeling of a flexible SMA tail, several simulations and model experiments are conducted according to the previous computation and analyses. Consequently, the five basic gestures of the robotic fin such as relaxation; expansion; bending; cupping; undulation, are extracted from the 3D grid graph. The results of kinematic of flexible pectoral fins will provide a basis to flexible pectoral fin and butterfly-inspired underwater.
Biomimetic Underwater Robot, Bio-inspired Pectoral Fin, Fin Patterns, Oscillation, Shape Memory Alloy (SMA), SMA-Driven Plate, Maneuverability
To cite this article
Mohammad Eftekhari, Saeed Rahmanian, Pezhman Moradi, Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA), American Journal of Data Mining and Knowledge Discovery. Vol. 2, No. 1, 2017, pp. 1-7. doi: 10.11648/j.ajdmkd.20170201.11
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This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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