Meeting Abstract
The recent development of soft robotic actuators (pneunets) allows for the investigation of actively controlled models of fish locomotion, in contrast to the historic approach of using passively flexible foils. Pneunets can be manufactured using an array of silicone rubbers with or without directional exterior reinforcements, and by using flexible 3D printing technology. Previous work has begun to explore the use of silicone pneunets for aquatic locomotion by bilaterally attaching two pneunets to a flexible plastic foil. Activation of pneunets resulted in positive thrust and undulatory propulsion. In addition to expanding the parameter space in frequency and pressure amplitude, this project compares the performance of pneunets fabricated using different materials and techniques and moves toward achieving more fish-like, full body undulatory movement using four pneunets arranged in a quad configuration. The assembled apparatus was suspended in a recirculating flow tank attached to an ATI 6-axis force-torque sensor. We measured thrust, lateral force, and amplitude of oscillation. We tested our ability to maintain amplitude in the face of fluctuating frequency. Ultimately this project will move towards implementing a closed loop system using strain sensors and other feedback mechanisms to better understand the dynamics of aquatic propulsion.
