Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators.

ABSTRACT: This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potentially offers swimming at higher speeds and acceleration rates, and efficient locomotion. The robot consists of laminated silicone layers wherein two DEAs are used in an antagonistic configuration, generating undulating fish-like motion. The design of the robot is guided by a mathematical model based on the Euler-Bernoulli beam theory and takes account of the nonuniform geometry of the robot and of the hydrodynamic effect of water. The modeling results were compared with the experimental results obtained from the fish robot with a total len

SUBMITTER: Shintake J 

PROVIDER: S-EPMC6101101 | biostudies-literature | 2018 Aug

REPOSITORIES: biostudies-literature