Water hydraulic actuator for bionic fish pectoral fin: Optimization and implementation

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical Pub Date : 2025-03-05 DOI:10.1016/j.sna.2025.116438

Songlin Nie, Pengwang Gao, Linfeng Huo, Hui Ji, Ruidong Hong, Zhonghai Ma

{"title":"Water hydraulic actuator for bionic fish pectoral fin: Optimization and implementation","authors":"Songlin Nie, Pengwang Gao, Linfeng Huo, Hui Ji, Ruidong Hong, Zhonghai Ma","doi":"10.1016/j.sna.2025.116438","DOIUrl":null,"url":null,"abstract":"<div><div>The utilization of soft actuators in robotics is progressively expanding, particularly for intricate tasks like grasping and exploration in complex environments. However, conventional rigid actuators driven by motors often prove unsuitable for underwater applications due to their intricate structure. This paper introduces a novel underwater twisting water hydraulic artificial muscle (TWHAM) specifically designed for biomimetic flexible robotic fish, such as pectoral fins. A mathematical model for TWHAM is developed using Gaussian Process Regression (GPR), and the parameters are optimized through Harris Hawks Optimization (HHO). Experimental results demonstrate that TWHAM can achieve an impressive torsion angle of 49.5° and generate a substantial torque of 0.848 N·m under a pressure of 1.0 MPa. The incorporation of bionic pectoral fins enables the robotic fish to achieve precise steering with a radius of 0.65 m at a speed of 0.32 m/s. These findings highlight the significant potential application of water hydraulics in areas such as environmental protection, water quality testing, and ocean exploration.</div></div>","PeriodicalId":21689,"journal":{"name":"Sensors and Actuators A-physical","volume":"387 ","pages":"Article 116438"},"PeriodicalIF":4.1000,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Sensors and Actuators A-physical","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0924424725002444","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}

引用次数: 0

Abstract

The utilization of soft actuators in robotics is progressively expanding, particularly for intricate tasks like grasping and exploration in complex environments. However, conventional rigid actuators driven by motors often prove unsuitable for underwater applications due to their intricate structure. This paper introduces a novel underwater twisting water hydraulic artificial muscle (TWHAM) specifically designed for biomimetic flexible robotic fish, such as pectoral fins. A mathematical model for TWHAM is developed using Gaussian Process Regression (GPR), and the parameters are optimized through Harris Hawks Optimization (HHO). Experimental results demonstrate that TWHAM can achieve an impressive torsion angle of 49.5° and generate a substantial torque of 0.848 N·m under a pressure of 1.0 MPa. The incorporation of bionic pectoral fins enables the robotic fish to achieve precise steering with a radius of 0.65 m at a speed of 0.32 m/s. These findings highlight the significant potential application of water hydraulics in areas such as environmental protection, water quality testing, and ocean exploration.

查看原文本刊更多论文

求助全文

约1分钟内获得全文求助全文

来源期刊

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...