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1、JournalofBionicEngineering9(2012)156–165ANovelImplementationofaFlexibleRoboticFinActuatedbyShapeMemoryAlloy1,21111QinYan,LeiWang,BoLiu,JieYang,ShiwuZhang1.DepartmentofPrecisionMachineryandPrecisionInstrumentation,UniversityofScienceandTechnologyofChina,Hef
2、ei230026,P.R.China2.DepartmentofMechanicalandElectricalEngineering,SuzhouUniversityofScienceandTechnology,Suzhou215011,P.R.ChinaAbstractInthispaper,studyofanovelflexiblerobotic-finactuatedbyShapeMemoryAlloy(SMA)ispresented.Thedevelopedroboticfiniscapableof
3、implementingvarious3-Dimensional(3D)motions,whichplaysanimportantroleinrobotpropulsionandmaneuverability.Firstly,themorphologicalandmechanicsparametersofarealpectoralfinfromacarpareinvestigated.Secondly,adetaileddesignoftheflexiblepectoralfindrivenbySMAisp
4、resentedaccordingtothepreviousmorphologicalandmechanicsanalyses.Thirdly,asimplifiedtheoreticalmodelontheSMAfinplateisderived.ThethermodynamicsoftheSMAplateandtherelationshipbetweencurvatureandphasetransformationareanalyzed.Finally,severalsimulationsandmode
5、lexperimentsareconductedaccordingtothepreviousanalyses.Theresultsoftheexperimentsareusefulforthecontroloftheroboticfin.TheexperimentalresultsrevealthattheSMAactuatedfinrayhasagoodactuatingperformance.Keywords:shapememoryalloy,roboticfin,SMAfinplateCopyrigh
6、t©2012,JilinUniversity.PublishedbyElsevierLimitedandSciencePress.Allrightsreserved.doi:10.1016/S1672-6529(11)60111-XperimentalhydrodynamicsandCFDanalysisofbluegill1Introductionsunfishfin.TheworkdiscoveredthatpectoralfincanFishexhibitvariousmarvelousswimmin
7、gabilitiesprovideconsiderablelift,span-wiseandthrustforces[9]underwater.Theyemploythebodiesand/orfinstopro-duringsunfishcruisingandturningmovement.Theducepropulsiveandmaneuveringforce.Fishswimmingteamalsodevelopedaflexibleroboticpectoralfinac-[10]modescanb
8、eclassifiedintotwocategories:Bodyand/ortuatedbyservomotors,buttheroboticfinactuatedbyCaudalFin(BCF)andMedianand/orPairedFinservomotorsistoobulkytobeemployedinaroboticfish.[1][11–13](MPF).Low’sgroupdevelopedam
