Elastic pectoral fin actuators for biomimetic underwater vehicles

Naomi Kato, Yoshito Ando, Ariyoshi Tomokazu, Hiroyoshi Suzuki, Koichi Suzumori, Takefumi Kanda, Satoshi Endo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

This paper describes the development of two new types of pectoral fins made of elastic materials. The fins were designed to have flexibility and multifunctionality for use not only as propulsive devices in biomimetic underwater vehicles but in other applications such as grippers, thus avoiding the environmental damage often caused by rigid fins. We developed an actively controlled pneumatic fin and a passively controlled flexible fin. The former is composed of silicone with a build-in FMA (flexible micro-actuator) and generates propulsive force by means of a lifting motion driven by the FMA. The latter type of flexible fin is formed of silicone rubber and generates propulsive force by means of a dragging motion. We experimentally verified the elastic pectoral fins' ability to generate propulsive force and used FEM to analyze the fins' behavior.

Original languageEnglish
Title of host publicationBio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science
PublisherSpringer-Verlag Tokyo
Pages271-282
Number of pages12
ISBN (Print)9784431733799
Publication statusPublished - 2008
Event3rd International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2006 - Okinawa, Japan
Duration: Jul 3 2006Jul 7 2006

Other

Other3rd International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2006
CountryJapan
CityOkinawa
Period7/3/067/7/06

Fingerprint

Biomimetics
Silicones
Actuators
Grippers
Pneumatics
Rubber
Finite element method

Keywords

  • Biomimetic underwater vehicle
  • Elastic
  • Finite element method
  • Flexible micro actuator
  • Mechanical pectoral fin
  • Passive flexible fin
  • Pneumatic actuator

ASJC Scopus subject areas

  • Biomedical Engineering

Cite this

Kato, N., Ando, Y., Tomokazu, A., Suzuki, H., Suzumori, K., Kanda, T., & Endo, S. (2008). Elastic pectoral fin actuators for biomimetic underwater vehicles. In Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science (pp. 271-282). Springer-Verlag Tokyo.

Elastic pectoral fin actuators for biomimetic underwater vehicles. / Kato, Naomi; Ando, Yoshito; Tomokazu, Ariyoshi; Suzuki, Hiroyoshi; Suzumori, Koichi; Kanda, Takefumi; Endo, Satoshi.

Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science. Springer-Verlag Tokyo, 2008. p. 271-282.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kato, N, Ando, Y, Tomokazu, A, Suzuki, H, Suzumori, K, Kanda, T & Endo, S 2008, Elastic pectoral fin actuators for biomimetic underwater vehicles. in Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science. Springer-Verlag Tokyo, pp. 271-282, 3rd International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2006, Okinawa, Japan, 7/3/06.
Kato N, Ando Y, Tomokazu A, Suzuki H, Suzumori K, Kanda T et al. Elastic pectoral fin actuators for biomimetic underwater vehicles. In Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science. Springer-Verlag Tokyo. 2008. p. 271-282
Kato, Naomi ; Ando, Yoshito ; Tomokazu, Ariyoshi ; Suzuki, Hiroyoshi ; Suzumori, Koichi ; Kanda, Takefumi ; Endo, Satoshi. / Elastic pectoral fin actuators for biomimetic underwater vehicles. Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science. Springer-Verlag Tokyo, 2008. pp. 271-282
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