Bio-inspired rigid-soft coexisting robotic fish

摘要

<p indent=0mm>Soft active materials have been widely studied due to their unique attributes of high compliance, various functions and multi physics coupling effects. As a typical soft active material, dielectric elastomer (DE) is promising in various applications, possessing the advantages of large voltage-induced actuation, fast response, lightweight, low cost and high biocompatibility. Utilizing the good performance of large actuation and high compliance, dielectric elastomer is an idea material to drive bio-inspired robot as the artificial muscle. This paper has designed a Manta Ray inspired robotic fish. Utilizing the large actuation of DE membrane, the robot achieves the coupling propulsion of flapping and undulatory motions. The electronics of power and control have been co-fabricated in the body of the robot. The robot achieves good mobility and high environmental adaptability based on its fully soft and transparent structure. The experimental results and design principle of this paper may guide the future design and application of “soft-rigid” co-existed robots and bio-inspired robots.