Abstract
The overall objective of this research is to develop analysis tools for determining actuatorrequirements and assessing viable actuator technology for design of a flexible tail propulsorin an artificial alligator. A simple hydrodynamic model that includes both reactiveand resistive forces along the tail is proposed and the calculated mean thrustagrees well with conventional estimates of drag. Using the hydrodynamic modelforces as an input, studies are performed for an alligator ranging in size from 1 cmto 2 m at swimming speeds of 0.3–1.8 body lengths per second containing fiveantagonistic pairs of actuators distributed along the length of the tail. Severalsmart materials are considered for the actuation system, and preliminary analysisresults indicate that the acrylic electroactive polymer and the flexible matrixcomposite actuators are potential artificial muscle technologies for the system.
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