Elastic pectoral fin actuators for biomimetic underwater vehicles

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

doi:10.1007/978-4-431-73380-5_22

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 proceeding › Conference contribution

27 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 language	English
Title of host publication	Bio-Mechanisms of Swimming and Flying
Subtitle of host publication	Fluid Dynamics, Biomimetic Robots, and Sports Science
Publisher	Springer Tokyo
Pages	271-282
Number of pages	12
ISBN (Print)	9784431733799
DOIs	https://doi.org/10.1007/978-4-431-73380-5_22
Publication status	Published - 2008
Event	3rd International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2006 - Okinawa, Japan Duration: Jul 3 2006 → Jul 7 2006

Publication series

Name	Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science

Other

Other	3rd International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2006
Country/Territory	Japan
City	Okinawa
Period	7/3/06 → 7/7/06

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

Access to Document

10.1007/978-4-431-73380-5_22

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). (Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science). Springer Tokyo. https://doi.org/10.1007/978-4-431-73380-5_22

Elastic pectoral fin actuators for biomimetic underwater vehicles. / Kato, Naomi; Ando, Yoshito; Tomokazu, Ariyoshi et al.
Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science. Springer Tokyo, 2008. p. 271-282 (Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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. Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science, Springer Tokyo, pp. 271-282, 3rd International Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2006, Okinawa, Japan, 7/3/06. https://doi.org/10.1007/978-4-431-73380-5_22

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 Tokyo. 2008. p. 271-282. (Bio-Mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science). doi: 10.1007/978-4-431-73380-5_22

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title = "Elastic pectoral fin actuators for biomimetic underwater vehicles",

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.",

keywords = "Biomimetic underwater vehicle, Elastic, Finite element method, Flexible micro actuator, Mechanical pectoral fin, Passive flexible fin, Pneumatic actuator",

author = "Naomi Kato and Yoshito Ando and Ariyoshi Tomokazu and Hiroyoshi Suzuki and Koichi Suzumori and Takefumi Kanda and Satoshi Endo",

year = "2008",

doi = "10.1007/978-4-431-73380-5_22",

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T1 - Elastic pectoral fin actuators for biomimetic underwater vehicles

AU - Kato, Naomi

AU - Ando, Yoshito

AU - Tomokazu, Ariyoshi

AU - Suzuki, Hiroyoshi

AU - Suzumori, Koichi

AU - Kanda, Takefumi

AU - Endo, Satoshi

PY - 2008

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N2 - 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.

AB - 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.

KW - Biomimetic underwater vehicle

KW - Elastic

KW - Finite element method

KW - Flexible micro actuator

KW - Mechanical pectoral fin

KW - Passive flexible fin

KW - Pneumatic actuator

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BT - Bio-Mechanisms of Swimming and Flying

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ER -

Elastic pectoral fin actuators for biomimetic underwater vehicles

Abstract

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Keywords

ASJC Scopus subject areas

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