Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 478
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Smart Structures
Aquatic Robot with Smart Structure Fin
*Yusuke Tajima, Hiroyuki Harada, Itsuro Kajiwara
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Keywords: Aquatic Robot, Shape Memory Alloy, Smart Structure, Fish, Biomimetics
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Abstract
A fish-like aquatic robot, which has a smart-tailfin driven by electric-driven SMA-actuator, is introduced. The tailfin consists of a flexible polypropylene sheet with two fiber-like SMAs pasted on the both surface of the sheet. Control of a displacement of the fin is tried by measuring the change of the electric resistance of SMAs due to their deformation. Outlines of the structure and mechanism of the robot are introduced, and the experimental results by a prototype robot are shown.
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© 2010 JSME
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