TY - JOUR
T1 - Review of biomimetic underwater robots using smart actuators
AU - Chu, Won Shik
AU - Lee, Kyung Tae
AU - Song, Sung Hyuk
AU - Han, Min Woo
AU - Lee, Jang Yeob
AU - Kim, Hyung Soo
AU - Kim, Min Soo
AU - Park, Yong Jai
AU - Cho, Kyu Jin
AU - Ahn, Sung Hoon
PY - 2012/7
Y1 - 2012/7
N2 - In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified based on different swimming modes. We expanded our classification to non-fish creatures based on their swimming modes. The five swimming modes are body/caudal actuation oscillatory (BCA-O), body/caudal actuation undulatory (BCA-U), median/paired actuation oscillatory (MPA-O), median/paired actuation undulatory (MPA-U), and jet propulsion (JET). The trends of biomimetic underwater robots were analyzed based on robot speed (body length per second, BL/s). For speed per body length, robots using an SMA as an actuator are faster than robots using an IPMC when considering a similar length or weight. Robots using a DC motor are longer while their speeds per body length are similar, which means that robots using smart actuators have an advantage of compactness. Finally, robots (using smart actuators or a motor) were compared with underwater animals according to their speed and different swimming modes. This review will help in setting guidelines for the development of future biomimetic underwater robots, especially those that use smart actuators.
AB - In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified based on different swimming modes. We expanded our classification to non-fish creatures based on their swimming modes. The five swimming modes are body/caudal actuation oscillatory (BCA-O), body/caudal actuation undulatory (BCA-U), median/paired actuation oscillatory (MPA-O), median/paired actuation undulatory (MPA-U), and jet propulsion (JET). The trends of biomimetic underwater robots were analyzed based on robot speed (body length per second, BL/s). For speed per body length, robots using an SMA as an actuator are faster than robots using an IPMC when considering a similar length or weight. Robots using a DC motor are longer while their speeds per body length are similar, which means that robots using smart actuators have an advantage of compactness. Finally, robots (using smart actuators or a motor) were compared with underwater animals according to their speed and different swimming modes. This review will help in setting guidelines for the development of future biomimetic underwater robots, especially those that use smart actuators.
KW - Biomimetic
KW - Ionic polymer metal composite (IPMC)
KW - Lead zirconate titanate (PZT)
KW - Shape memory alloy (SMA)
KW - Smart actuator
KW - Underwater robot
UR - http://www.scopus.com/inward/record.url?scp=84863666573&partnerID=8YFLogxK
U2 - 10.1007/s12541-012-0171-7
DO - 10.1007/s12541-012-0171-7
M3 - Article
AN - SCOPUS:84863666573
SN - 2234-7593
VL - 13
SP - 1281
EP - 1292
JO - International Journal of Precision Engineering and Manufacturing
JF - International Journal of Precision Engineering and Manufacturing
IS - 7
ER -