Evaluation of Driving Method of the Flexible Body   Moving in Narrow Flow Passage

Akio Yamano; Atsuhiko Shintani; Tomohiro Ito; Chihiro Nakagawa

doi:10.20965/jrm.2014.p0349

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JRM Vol.26 No.3 pp. 349-357

doi: 10.20965/jrm.2014.p0349

(2014)

Paper:

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Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage

Akio Yamano^*, Atsuhiko Shintani^, Tomohiro Ito^,
and Chihiro Nakagawa^**

^*Graduate School of Engineering, Osaka Prefecture University

^**Department of Mechanical Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai, Osaka 599-8531, Japan

Received:

November 29, 2013

Accepted:

April 14, 2014

Published:

June 20, 2014

Keywords:

self-excited vibration, smart material, vibration of moving body, narrow passage, coupled vibration

Abstract

Analytical model

A flexible fish-like biomimetic robot developed for use in narrow passage flows was downsized using shape memory alloy (SMA) actuators. We constructed a fluid-body-coupled model of the robot and considered undulatory swimming and the effect of nonlinear SMA characteristics. An experimental model was also constructed to confirm the analytical model’s feasibility. Shrinkage due to temperature depends on the temperature of the SMA actuator, in which overheating may decrease the fin-vibration amplitude. To avoid this problem, a new driving method was introduced that used a self-excited oscillator with an actuator. Simulation results showed that this method achieves constant thrust in the moving body.

Cite this article as:

A. Yamano, A. Shintani, T. Ito, and C. Nakagawa, “Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage,” J. Robot. Mechatron., Vol.26 No.3, pp. 349-357, 2014.

Data files:

References

[1] R. Mason, “Fluid Locomotion and Trajectory Planning for Shape-Changing Robots,” Doctoral paper of California Institute of Technology, p. 2, 2003.
[2] A. Crespi, D. Lachat, A. Pasquier, and A. Ijspeert, “Controlling Swimming and Crawling in a Fish Robot,” an Extended Version of an Article Presented at BioRob2006 the First IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics 2008, pp. 1-10, 2008.
[3] C. Wang et al., “CPG-Based Locomotion Control of a Robotic Fish: Using Linear Oscillators and Reducing Control Parameters via PSO,” Int. J. of Innovative Computing, Information and Control, Vol.7, No.7, pp. 4237-4249, 2011.
[4] N. Kamamichi et al., “A Snake-Like Swimming Robot Using IPMC Actuator/Sensor,” the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 1812-1817, 2006.
[5] Z. Wang et al., “A Micro-Robot Fish with Embedded SMA Wire Actuated Flexible Biomimetic Fin,” Sensors and Actuators A, Vol.144, pp. 354-360, 2008.
[6] W. Chu et al., “Review of Biomimetic Underwater Robots Using Smart Actuators,” Int. J. of Precision Engineering and Manufacturing, Vol.13, No.7, pp. 1281-1292, 2012.
[7] A. Yamano et al., “Basic Study on Moving Body in Narrow Passage Based on Axial-Flow-Induced Vibration,” JSME Dynamics and Design Conf. 2012, No.12 (USB Proc.), 2012.
[8] T. Hoshino et al., “Vibration Analysis of a Stepped Cantilever Beam Elastically Coupled With a Rigid Body,” JSME Dynamics and Design Conf. 2012, No.12 (USB Proc.), 2012.
[9] A. Munnier et al., “Locomotion of Articulated Bodies in an Ideal Fluid: 2d Model with Buoyancy, Circulation and Collisions,” Mathematical Models and Methods in Applied Sciences, Vol.20, pp. 1899-1940, 2010.
[10] O. Doare et al., “Flutter of an Elastic Plate in a Channel Flow: Confinement and Finite-size Effects,” J. of Fluids and Structures, Vol.27, pp. 76-88, 2011.
[11] Y. Tadesse et al., “Tailoring the Response Time of Shape Memory Alloy Wires though Active Cooling and Pre-stress,” J. of Intelligent Material Systems and Structures, Vol.21, p. 4, 2009.
[12] D. Homma, “Development and Application of Function Anisotropic Shape Memory Alloy,” J. of JSPE, Vol.75, No.6, 2009.
[13] R. Gorbet, “Control of hysteretic Systems with Preisach Representations,” Doctoral paper of Waterloo University, pp. 1-186, 1997.
[14] R. Gorbet et al., “Preisach Model Identification of a Two-Wire SMA Actuator,” the 1998 lEEE Int. Conf. on Robotics & Automation, pp. 2161-2167, 1998.
[15] T. Lew et al., “Identification of response surface models using genetic programing,” Mechanical Systems and Signal Processing, Vol.20, pp. 1819-1831, 2006.
[16] T. Miao et al., “An Accurately Controlled Antagonistic ShapeMemory Alloy Actuator with Self-Sensing,” Sensors, Vol.12, pp. 7682-7700, 2012.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] R. Mason, “Fluid Locomotion and Trajectory Planning for Shape-Changing Robots,” Doctoral paper of California Institute of Technology, p. 2, 2003.

[2] [2] A. Crespi, D. Lachat, A. Pasquier, and A. Ijspeert, “Controlling Swimming and Crawling in a Fish Robot,” an Extended Version of an Article Presented at BioRob2006 the First IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics 2008, pp. 1-10, 2008.

[3] [3] C. Wang et al., “CPG-Based Locomotion Control of a Robotic Fish: Using Linear Oscillators and Reducing Control Parameters via PSO,” Int. J. of Innovative Computing, Information and Control, Vol.7, No.7, pp. 4237-4249, 2011.

[4] [4] N. Kamamichi et al., “A Snake-Like Swimming Robot Using IPMC Actuator/Sensor,” the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 1812-1817, 2006.

[5] [5] Z. Wang et al., “A Micro-Robot Fish with Embedded SMA Wire Actuated Flexible Biomimetic Fin,” Sensors and Actuators A, Vol.144, pp. 354-360, 2008.

[6] [6] W. Chu et al., “Review of Biomimetic Underwater Robots Using Smart Actuators,” Int. J. of Precision Engineering and Manufacturing, Vol.13, No.7, pp. 1281-1292, 2012.

[7] [7] A. Yamano et al., “Basic Study on Moving Body in Narrow Passage Based on Axial-Flow-Induced Vibration,” JSME Dynamics and Design Conf. 2012, No.12 (USB Proc.), 2012.

[8] [8] T. Hoshino et al., “Vibration Analysis of a Stepped Cantilever Beam Elastically Coupled With a Rigid Body,” JSME Dynamics and Design Conf. 2012, No.12 (USB Proc.), 2012.

[9] [9] A. Munnier et al., “Locomotion of Articulated Bodies in an Ideal Fluid: 2d Model with Buoyancy, Circulation and Collisions,” Mathematical Models and Methods in Applied Sciences, Vol.20, pp. 1899-1940, 2010.

[10] [10] O. Doare et al., “Flutter of an Elastic Plate in a Channel Flow: Confinement and Finite-size Effects,” J. of Fluids and Structures, Vol.27, pp. 76-88, 2011.

[11] [11] Y. Tadesse et al., “Tailoring the Response Time of Shape Memory Alloy Wires though Active Cooling and Pre-stress,” J. of Intelligent Material Systems and Structures, Vol.21, p. 4, 2009.

[12] [12] D. Homma, “Development and Application of Function Anisotropic Shape Memory Alloy,” J. of JSPE, Vol.75, No.6, 2009.

[13] [13] R. Gorbet, “Control of hysteretic Systems with Preisach Representations,” Doctoral paper of Waterloo University, pp. 1-186, 1997.

[14] [14] R. Gorbet et al., “Preisach Model Identification of a Two-Wire SMA Actuator,” the 1998 lEEE Int. Conf. on Robotics & Automation, pp. 2161-2167, 1998.

[15] [15] T. Lew et al., “Identification of response surface models using genetic programing,” Mechanical Systems and Signal Processing, Vol.20, pp. 1819-1831, 2006.

[16] [16] T. Miao et al., “An Accurately Controlled Antagonistic ShapeMemory Alloy Actuator with Self-Sensing,” Sensors, Vol.12, pp. 7682-7700, 2012.

Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage

Akio Yamano*, Atsuhiko Shintani**, Tomohiro Ito**, and Chihiro Nakagawa**

Akio Yamano^*, Atsuhiko Shintani^, Tomohiro Ito^,
and Chihiro Nakagawa^**