Mechanical Design of a New Hybrid 3R-DoF Bioinspired Robotic Fin Based on Kinematics Modeling and Analysis
Abstract
:1. Introduction
Morphology Selection
2. Kinematic Analysis
2.1. Two-Degrees of Freedom Spatial Mechanism Direct Kinematics
2.1.1. Constraint Vector
2.1.2. Jacobian Matrix
2.1.3. Position Analysis
2.2. One-Degree of Freedom Serial Mechanism Direct Kinematics
2.3. Inverse Kinematics
3. Kinematic Analysis Simulation
3.1. Simulations Using a Sinusoidal CPG Approach
3.2. Simulations Using a Natural Manta Ray Movement Approximation Approach
4. Three-Dimensional Prototype of the Robotic Fin
4.1. Prototype of 2 DoF Spatial Mechanism
4.2. Prototype of 1 DoF Mechanism
5. Discussion
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
Abbreviations
DoF | Degree of freedom |
MPF | median and paired pectoral fin |
SMA | shape memory alloy wire |
SPM | spatial parallel mechanism |
HTM | homogeneous transformation matrix |
CM | global position |
CPG | Central Pattern Generator |
ASA | acrylonitrile styrene acrylate |
FDM | Fused Deposition Modeling |
CAD | Computer-Aided Design |
PETG | polyethylene terephthalate glycol |
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Link | Length (mm) |
---|---|
104 | |
104 | |
172 |
Joint | Max. Displacement (mm) |
---|---|
38 | |
40 |
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Cortés Torres, E.d.J.; García Gonzales, L.E.; Villamizar Marin, L.E.; García Cena, C.E. Mechanical Design of a New Hybrid 3R-DoF Bioinspired Robotic Fin Based on Kinematics Modeling and Analysis. Actuators 2024, 13, 353. https://doi.org/10.3390/act13090353
Cortés Torres EdJ, García Gonzales LE, Villamizar Marin LE, García Cena CE. Mechanical Design of a New Hybrid 3R-DoF Bioinspired Robotic Fin Based on Kinematics Modeling and Analysis. Actuators. 2024; 13(9):353. https://doi.org/10.3390/act13090353
Chicago/Turabian StyleCortés Torres, Eliseo de J., Luis E. García Gonzales, Luis E. Villamizar Marin, and Cecilia E. García Cena. 2024. "Mechanical Design of a New Hybrid 3R-DoF Bioinspired Robotic Fin Based on Kinematics Modeling and Analysis" Actuators 13, no. 9: 353. https://doi.org/10.3390/act13090353