Review of biomimetic underwater robots using smart actuators

被引:282
作者
Chu, Won-Shik [1 ,2 ]
Lee, Kyung-Tae [1 ]
Song, Sung-Hyuk [1 ]
Han, Min-Woo [1 ]
Lee, Jang-Yeob [1 ]
Kim, Hyung-Soo [1 ]
Kim, Min-Soo [1 ]
Park, Yong-Jai [1 ]
Cho, Kyu-Jin [1 ,2 ]
Ahn, Sung-Hoon [1 ,2 ]
机构
[1] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul 151742, South Korea
[2] Seoul Natl Univ, Inst Adv Machinery & Design, Seoul 151742, South Korea
基金
新加坡国家研究基金会;
关键词
Biomimetic; Underwater robot; Smart actuator; Shape Memory Alloy (SMA); Ionic Polymer Metal Composite (IPMC); Lead Zirconate Titanate (PZT); CAUDAL FIN; FISH; DESIGN; LOCOMOTION; PERFORMANCE; COMPOSITE; WALKING; SPEED; BODY;
D O I
10.1007/s12541-012-0171-7
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified based on different swimming modes. We expanded our classification to non-fish creatures based on their swimming modes. The five swimming modes are body/caudal actuation oscillatory (BCA-O), body/caudal actuation undulatory (BCA-U), median/paired actuation oscillatory (MPA-O), median/paired actuation undulatory (MPAU), and jet propulsion (JET). The trends of biomimetic underwater robots were analyzed based on robot speed (body length per second, BL/s). For speed per body length, robots using an SMA as an actuator are faster than robots using an IPMC when considering a similar length or weight. Robots using a DC motor are longer while their speeds per body length are similar, which means that robots using smart actuators have an advantage of compactness. Finally, robots (using smart actuators or a motor) were compared with underwater animals according to their speed and different swimming modes. This review will help in setting guidelines for the development of future biomimetic underwater robots, especially those that use smart actuators.
引用
收藏
页码:1281 / 1292
页数:12
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