Abstract
This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potentially offers swimming at higher speeds and acceleration rates, and efficient locomotion. The robot consists of laminated silicone layers wherein two DEAs are used in an antagonistic configuration, generating undulating fish-like motion. The design of the robot is guided by a mathematical model based on the Euler–Bernoulli beam theory and takes account of the nonuniform geometry of the robot and of the hydrodynamic effect of water. The modeling results were compared with the experimental results obtained from the fish robot with a total length of 150 mm, a thickness of 0.75 mm, and weight of 4.4 g. We observed that the frequency peaks in the measured thrust force produced by the robot are similar to the natural frequencies computed by the model. The peak swimming speed of the robot was 37.2 mm/s (0.25 body length/s) at 0.75 Hz. We also observed that the modal shape of the robot at this frequency corresponds to the first natural mode. The swimming of the robot resembles real fish and displays a Strouhal number very close to those of living fish. These results suggest the high potential of DEA-based underwater robots relying on BCF propulsion, and applicability of our design and fabrication methods.
Highlights
As an emerging field, soft robotics has been the focus of major research efforts.[1,2] Soft robots, that is, robots composed of compliant materials, offer important advantages over conventional rigid robots, such as simplified body structure and control,[3,4] together with high robustness and versatility.[5,6]One promising application of soft robotics is biomimetic underwater robots, wherein the high mobility and efficiency of aquatic animals could be achieved,[7] by approximating their natural movements with the theoretically infinite number of degrees of freedom offered by soft-bodied robots
This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion
The swimming of the robot resembles real fish and displays a Strouhal number very close to those of living fish. These results suggest the high potential of DEA-based underwater robots relying on BCF propulsion, and applicability of our design and fabrication methods
Summary
Soft robotics has been the focus of major research efforts.[1,2] Soft robots, that is, robots composed of compliant materials, offer important advantages over conventional rigid robots, such as simplified body structure and control,[3,4] together with high robustness and versatility.[5,6]One promising application of soft robotics is biomimetic underwater robots, wherein the high mobility and efficiency of aquatic animals could be achieved,[7] by approximating their natural movements with the theoretically infinite number of degrees of freedom offered by soft-bodied robots. In addition to underwater applications such as inspection and environmental monitoring, biomimetic underwater robots could serve as a platform to address biological questions related to the biomechanics and control of living fish.[8,9,10] Within this context, researchers have recently developed soft underwater robots based on different actuation technologies, such as, ionic polymer–metal composites, lead zirconate titanate, shape memory alloys, fluidic elastomer actuators, and dielectric elastomer actuators (DEAs).[11,12,13,14,15,16]. Researchers have recently developed soft underwater robots based on different actuation technologies, such as, ionic polymer–metal composites, lead zirconate titanate, shape memory alloys, fluidic elastomer actuators, and dielectric elastomer actuators (DEAs).[11,12,13,14,15,16] Among these soft actuation technologies, DEAs17–19 show promising features for biomimetic underwater robots.
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