Implementación de una aleta pectoral bio-inspirada con tres grados de libertad utilizando actuadores no convencionales para el control de orientación de un robot Pez Pseudorinelepis genibarbisbio.

Abstract

In this investigation, a three-degree fin prototype with all or nothing control and wireless communication was implemented. The degrees of freedom are linked to movements of Yaw, Pitch and Roll, these are executed from a graphic interface man machine. It consists of three modules, the censor module communicates wirelessly using xbee technology.The first, called the censor module formed by accelerometer and gyroscope sensors that collect the information provided by the fin movements and transmit wirelessly to the module of control. The second, a control module consisting of an Atmega 328p microcontroller mounted on an Arduino development card that is responsible for receiving the signals from the sensors, filtering, linearizing and scaling the obtained values and sending control signals to the actuators. The third, an actuation module that is made up of rotational and linear nitinol actuators that are responsible for the movement of the fin. All these modules are mounted on a 3D printed structure, and waterproofed with an anti-fungus silicone sealant. The graphic man-machine interface allows the control of each degree of freedom wirelessly from the computer, as well as visualizing the acceleration and angular velocity data to form a three-dimensional graph for a better appreciation of the orientation of the prototype. With the tests carried out it was verified that the implemented system is adaptable in both software and hardware, and that it is submersible. It is concluded that the bio-inspired robot complies with the three degrees of freedom necessary for its orientation control, it is recommended for future applications to develop the actuators with a customized shape according to the degrees of freedom to be implemented.