Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish
A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up th...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/826364 |
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| author | M. O. Afolayan D. S. Yawas C. O. Folayan S. Y. Aku |
| author_facet | M. O. Afolayan D. S. Yawas C. O. Folayan S. Y. Aku |
| author_sort | M. O. Afolayan |
| collection | DOAJ |
| description | A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved. |
| format | Article |
| id | doaj-art-6122fca8000148c782ebc81e06ae353a |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-6122fca8000148c782ebc81e06ae353a2025-08-20T03:34:57ZengWileyJournal of Robotics1687-96001687-96192012-01-01201210.1155/2012/826364826364Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic FishM. O. Afolayan0D. S. Yawas1C. O. Folayan2S. Y. Aku3Mechanical Engineering Department, Ahmadu Bello University, Samaru, Kaduna, P.O. Box 504, Zaria, NigeriaMechanical Engineering Department, Ahmadu Bello University, Samaru, Kaduna, P.O. Box 504, Zaria, NigeriaMechanical Engineering Department, Ahmadu Bello University, Samaru, Kaduna, P.O. Box 504, Zaria, NigeriaMechanical Engineering Department, Ahmadu Bello University, Samaru, Kaduna, P.O. Box 504, Zaria, NigeriaA biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved.http://dx.doi.org/10.1155/2012/826364 |
| spellingShingle | M. O. Afolayan D. S. Yawas C. O. Folayan S. Y. Aku Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish Journal of Robotics |
| title | Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish |
| title_full | Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish |
| title_fullStr | Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish |
| title_full_unstemmed | Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish |
| title_short | Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish |
| title_sort | mechanical description of a hyper redundant robot joint mechanism used for a design of a biomimetic robotic fish |
| url | http://dx.doi.org/10.1155/2012/826364 |
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