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Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA)

Received: 13 December 2016     Accepted: 5 January 2017     Published: 30 January 2017
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Abstract

Pectoral fins have received the attention of many researchers because of their important role in maneuverability underwater in the recent years. This paper presents the study of a novel flexible robotic-fin actuated and the swimming propulsion by Shape Memory Alloy (SMA) inspired by a Koi Carp. In this paper, the morphological and mechanics parameters of a koi Carp pectoral fin from a carp is first studied. The motion of the pectoral fins is analyzed, which are difficult to reproduce by artificial pectoral fins and descending and ascending, the five basic gestures of the robotic fin are well achieved by the coordinating control of the fin base and fin rays, which are relaxation, expansion, bending, cupping and undulation. Secondly, a simplified theoretical model of the SMA fin plate is derived, thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed. Thirdly, Dynamic modeling of a flexible SMA tail, several simulations and model experiments are conducted according to the previous computation and analyses. Consequently, the five basic gestures of the robotic fin such as relaxation; expansion; bending; cupping; undulation, are extracted from the 3D grid graph. The results of kinematic of flexible pectoral fins will provide a basis to flexible pectoral fin and butterfly-inspired underwater.

Published in American Journal of Data Mining and Knowledge Discovery (Volume 2, Issue 1)
DOI 10.11648/j.ajdmkd.20170201.11
Page(s) 1-7
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2017. Published by Science Publishing Group

Keywords

Biomimetic Underwater Robot, Bio-inspired Pectoral Fin, Fin Patterns, Oscillation, Shape Memory Alloy (SMA), SMA-Driven Plate, Maneuverability

References
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Cite This Article
  • APA Style

    Mohammad Eftekhari, Saeed Rahmanian, Pezhman Moradi. (2017). Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA). American Journal of Data Mining and Knowledge Discovery, 2(1), 1-7. https://doi.org/10.11648/j.ajdmkd.20170201.11

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    ACS Style

    Mohammad Eftekhari; Saeed Rahmanian; Pezhman Moradi. Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA). Am. J. Data Min. Knowl. Discov. 2017, 2(1), 1-7. doi: 10.11648/j.ajdmkd.20170201.11

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    AMA Style

    Mohammad Eftekhari, Saeed Rahmanian, Pezhman Moradi. Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA). Am J Data Min Knowl Discov. 2017;2(1):1-7. doi: 10.11648/j.ajdmkd.20170201.11

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  • @article{10.11648/j.ajdmkd.20170201.11,
      author = {Mohammad Eftekhari and Saeed Rahmanian and Pezhman Moradi},
      title = {Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA)},
      journal = {American Journal of Data Mining and Knowledge Discovery},
      volume = {2},
      number = {1},
      pages = {1-7},
      doi = {10.11648/j.ajdmkd.20170201.11},
      url = {https://doi.org/10.11648/j.ajdmkd.20170201.11},
      eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajdmkd.20170201.11},
      abstract = {Pectoral fins have received the attention of many researchers because of their important role in maneuverability underwater in the recent years. This paper presents the study of a novel flexible robotic-fin actuated and the swimming propulsion by Shape Memory Alloy (SMA) inspired by a Koi Carp. In this paper, the morphological and mechanics parameters of a koi Carp pectoral fin from a carp is first studied. The motion of the pectoral fins is analyzed, which are difficult to reproduce by artificial pectoral fins and descending and ascending, the five basic gestures of the robotic fin are well achieved by the coordinating control of the fin base and fin rays, which are relaxation, expansion, bending, cupping and undulation. Secondly, a simplified theoretical model of the SMA fin plate is derived, thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed. Thirdly, Dynamic modeling of a flexible SMA tail, several simulations and model experiments are conducted according to the previous computation and analyses. Consequently, the five basic gestures of the robotic fin such as relaxation; expansion; bending; cupping; undulation, are extracted from the 3D grid graph. The results of kinematic of flexible pectoral fins will provide a basis to flexible pectoral fin and butterfly-inspired underwater.},
     year = {2017}
    }
    

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  • TY  - JOUR
    T1  - Analysis of Bio-inspired Kinematic Patterns Pectoral Fin with Shape Memory Alloy (SMA)
    AU  - Mohammad Eftekhari
    AU  - Saeed Rahmanian
    AU  - Pezhman Moradi
    Y1  - 2017/01/30
    PY  - 2017
    N1  - https://doi.org/10.11648/j.ajdmkd.20170201.11
    DO  - 10.11648/j.ajdmkd.20170201.11
    T2  - American Journal of Data Mining and Knowledge Discovery
    JF  - American Journal of Data Mining and Knowledge Discovery
    JO  - American Journal of Data Mining and Knowledge Discovery
    SP  - 1
    EP  - 7
    PB  - Science Publishing Group
    SN  - 2578-7837
    UR  - https://doi.org/10.11648/j.ajdmkd.20170201.11
    AB  - Pectoral fins have received the attention of many researchers because of their important role in maneuverability underwater in the recent years. This paper presents the study of a novel flexible robotic-fin actuated and the swimming propulsion by Shape Memory Alloy (SMA) inspired by a Koi Carp. In this paper, the morphological and mechanics parameters of a koi Carp pectoral fin from a carp is first studied. The motion of the pectoral fins is analyzed, which are difficult to reproduce by artificial pectoral fins and descending and ascending, the five basic gestures of the robotic fin are well achieved by the coordinating control of the fin base and fin rays, which are relaxation, expansion, bending, cupping and undulation. Secondly, a simplified theoretical model of the SMA fin plate is derived, thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed. Thirdly, Dynamic modeling of a flexible SMA tail, several simulations and model experiments are conducted according to the previous computation and analyses. Consequently, the five basic gestures of the robotic fin such as relaxation; expansion; bending; cupping; undulation, are extracted from the 3D grid graph. The results of kinematic of flexible pectoral fins will provide a basis to flexible pectoral fin and butterfly-inspired underwater.
    VL  - 2
    IS  - 1
    ER  - 

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Author Information
  • Department of Mechanical Engineering, Isfahan University, Isfahan, Iran

  • Department of Mechanical Engineering, Jahrom University, Jahrom, Iran

  • Department of Mechanical Engineering, Jahrom University, Jahrom, Iran

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