1A1-B05 Study on Fin Structure of Aquatic Robot with SMA(Bio-Mimetics and Bio-Mechatronics (1))

Instead of human, to investigate the aquatic environment, we are continuing research and development on small aquatic robots with SMA actuator. We mount the system that mimics the physical structure of the fish for high efficiency of robot. In this research, to improve the problem of conventional fin, I made new fin structure that arranges two elastic plates with fixed SMA on only one side vertically and evaluate it. Degradation of SMA has improved to some extent, however, compared with the conventional structure, in addition to the reduction in speed, it decreases in roll stability. So we require more improvement of fin.