Abstract
Fish-like robotic systems can perform underwater inspections, which require locomotion in complex and unstructured environments. These robotic devices can mimic oscillatory and undulatory movements yielding forward thrust to deliver motion and manoeuvre capabilities. This work presents a dynamic model for a fibre carbon flexible beam actuated by Macro-Fiber Composite (MFC) patches in a bi-morph configuration. Optimization schemes, model-based motion and control strategies can exploit this model to improve trust capabilities and manoeuvrability. This model is built using the Finite-Element method in a multi-physics environment. We carried out two experimental campaigns to collect data for validating this model. Firstly, the device was excited by an instrumented impact hammer to acquire the frequency response functions. Secondly, sinusoidal signals at the resonance frequencies were applied in the MFCs’ actuators. Comparisons between numerical and experimental resonance frequencies and mode shapes demonstrated that the model is valid and calibrated. A numerical modal analysis considering the device immersed in water in a free-free condition indicates that the first resonance frequency is 24 rad/s. The information can be exploited for generating the MFCs’ sinusoidal inputs for motion generation.
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Acknowledgements
This research is supported by FAPESP 2022/07119-2 and FAPESP 2018/15894-0. Moreover, the authors are grateful for their research grants, CAPES 88887 498358/2020-00, CNPq 303884/2021-5 and CNPq 303901/2021-7, respectively.
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da Silva, M.M., Barbosa, A.S., de Oliveira, L.P.R. (2023). Dynamic Model of a Macro Fiber Composite-Actuated Bio-inspired Robotic System. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_1
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DOI: https://doi.org/10.1007/978-3-031-45705-0_1
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