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

Mohammad Eftekhari; Saeed Rahmanian; Pezhman Moradi

doi:doi:10.11648/j.ajdmkd.20170201.11

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

Mohammad Eftekhari, Saeed Rahmanian, Pezhman Moradi

Published in American Journal of Data Mining and Knowledge Discovery (Volume 2, Issue 1)

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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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

Mohammad Eftekhari

Department of Mechanical Engineering, Isfahan University, Isfahan, Iran
Saeed Rahmanian

Department of Mechanical Engineering, Jahrom University, Jahrom, Iran
Pezhman Moradi

Department of Mechanical Engineering, Jahrom University, Jahrom, Iran

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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

Copy | Download

@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}
}

Copy | Download

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  -

Copy | Download