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This research was partially supported by the research project Chair University-Industry Monodon by Navantia Underwater Robots and Deeptech Technology". Reference id: CAT235618000

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Cortes Torres, Eliseo De JAutor (correspondencia)Garcia Gonzalez, Luis EAutor o CoautorVillamizar Marin, Luis EAutor o CoautorGarcia Cena, Cecilia EAutor o Coautor

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22 de marzo de 2025
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Development of a wire-driven compliant joint fin for a bio-inspired underwater robot

Publicado en:2024 7th Iberian Robotics Conference, Robot 2024. - 2024-01-01 (), DOI: 10.1109/ROBOT61475.2024.10797405

Autores: Cortes Torres, Eliseo de J; Garcia Gonzalez, Luis E; Villamizar Marin, Luis E; Garcia Cena, Cecilia E

Afiliaciones

Univ Politecn Madrid, Ctr Automat & Robot ETSIDI UPM CSIC, Madrid, Spain - Autor o Coautor

Resumen

In bio-inspired robotics, there is significant interest in using new materials with diverse mechanical properties to enhance the kinematic and dynamic performance of mechanisms, such as flexible and soft materials. These materials not only reduce friction forces but also enable the replication of natural animal behaviors, simplifying the mechanical design process. However, in hostile environments like underwater, soft and flexible materials have not been extensively tested under varying conditions of depth, temperature, and pressure. This article presents the mechanical design of a bio-inspired robotic fin. The mechanism consists on a cable-actuated flexible joint, integrated into a spatial parallel mechanism with 2 degrees of freedom (DoF), designed to replicate the natural movement of Mobula Alfredi, commonly known as the Reef Manta Ray. Finite element analysis and dynamic simulations are conducted to evaluate the materials and mechanism's behavior. Additionally, a prototype was developed using modern fabrication technologies and flexible materials. The results demonstrate that the proposed cable-driven flexible joint meets both the mechanical and kinematic requirements, even in calm underwater conditions.

Palabras clave

Bio-inspiredBio-inspired roboticsCable jointingCompliantConditionDesign for testabilityDevelopmenDevelopmentFinFlexible materialsFrictionIntelligent robotsMachine designMechanicalMechanical designSofter materials

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Análisis de liderazgo de los autores institucionales

Existe un liderazgo significativo ya que algunos de los autores pertenecientes a la institución aparecen como primer o último firmante, se puede apreciar en el detalle: Primer Autor (CORTES TORRES, ELISEO DE JESUS) y Último Autor (GARCIA CENA, CECILIA ELISABET).

el autor responsable de establecer las labores de correspondencia ha sido CORTES TORRES, ELISEO DE JESUS.