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Two chambers soft actuator realizing robotic gymnotiform swimmers fin

Muhammad Razif, Muhammad Rusydi and Mohd Faudzi, Mohd Faudzi and Bavandi, Mahrokh and Mohd Nordin, Ili Najaa Aimi and Natarajan, Elango and Yaakob, Omar (2014) Two chambers soft actuator realizing robotic gymnotiform swimmers fin. In: International Conference on Robotics and Biomimetics.

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This paper shows a study on two chambers soft actuator development and its application to an artificial soft actuator fin. Simulations of two chambers actuator are conducted using finite element method software and the bending angles produced are computed. Eleven designs are proposed and compared which differ in separating wall thickness, actuator thickness, fiber location, fiber materials, and rubber materials to analyze the optimal bending angle produced by the actuator. Two actuators are then fabricated and embedded at the ends of soft actuator fin to produce a traveling wave along the soft actuator fin. Soft actuator fin propels like gymnotiform swimmers and shows good linear motion.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Electrical and Electronic Engineering > Department of Electrical Technology
Depositing User: Normajihan Abd. Rahman
Date Deposited: 13 Aug 2018 03:32
Last Modified: 13 Aug 2018 03:32
URI: http://eprints.uthm.edu.my/id/eprint/9810
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