Open AccessA Soft‐Robotic Harbor Porpoise Pectoral Fin Driven by Coiled Polymer Actuators as Artificial Muscles
Author(s) -
Hunt Robert,
Trabia Sarah,
Olsen Zakai,
Kim Kwang
Publication year - 2019
Publication title -
advanced intelligent systems
Language(s) - English
Resource type - Journals
ISSN - 2640-4567
DOI - 10.1002/aisy.201900028
Subject(s) - fin , biomimetics , actuator , fish fin , artificial muscle , soft robotics , porpoise , fabrication , lift (data mining) , marine engineering , mechanical engineering , materials science , anatomy , engineering , computer science , nanotechnology , fish <actinopterygii> , artificial intelligence , biology , harbour , fishery , programming language , medicine , alternative medicine , pathology , data mining
Biomimicry is an approach in science and engineering to overcome human challenges by designing materials and systems modeled after nature. Selected applications of biomimicry include catheters, hearing devices, and artificial appendages such as arms, legs, and fingers. The inspiration for this study is the hydrofoil‐like structured pectoral fin of the harbor porpoise whale that is ultimately useful for studying fluid‐structure interactions, drag, lift, and laminar‐to‐turbulent transitions. The pectoral fin is fabricated by manipulating computed tomography (CT) scans into 3D models using Simpleware ScanIP and post‐processed in Autodesk for printing. An array of thermally driven coiled polymer actuators (CPA) fabricated from nylon and heated with Nichrome are used as artificial muscles for the fabricated pectoral fin. The CPAs are of great interest due to its high specific power and large actuation stroke. The work discussed includes the fabrication of the fin (designing, printing, and assembly), the fabrication and testing of the CPAs, implementation of the CPAs, controlling, and actuation of the bio‐inspired whale fin.