Design and Fuzzy Control of the Shark Robot-Fish Dorsal Fin Using SMA Available to Purchase

This contribution presents the experimental investigations on design and fabrication of the dorsal fin of the shark robot-fish mechanism which is controlled using NiTi Shape Memory Alloy (SMA) actuators by a Fuzzy controller. The dorsal fin helps the shark not only to turn around, but also it helps shark to roll. This fin contains two main parts, a rigid part; is connected to the shark’s body and another part is mounted on the latter one which can be rotated. The rotation angle of the second part is controlled by two parallel SMA wires. The subtlety of this installation is the tension of the right wire, when the left one is actuated. In addition, a fuzzy controller was determined by considering the characteristics of the SMA wires and designated mechanism which has hysteresis response characteristics against heating and cooling.