Implementación de un robot subacuático bioinspirado utilizando actuadores basados en metales de memoria de forma para el desplazamiento bidimensional en un ambiente controlado.

Abstract

The objective of the graduate research project was to implement a bio-inspired underwater robot using memory metal-based actuators in the shape of (SMA) for the two-dimensional scrolling in a controlled environment. For its design, the Solidworks software was used, where it was seeking to achieve a fusiform-shaped hydrodynamic body; for the propulsion in body swimming, a pair of pectoral fins and a tail fin were used bio-inspired, both flexible and light, these fins are driven by actuators based on SMA. The basic unit of the actuators is two 1 mm rectangular cables. Embedded in the two opposite sides of the silicon fin, the fin with the SMA cables embedded can be bent by a pulse width modulation current generated by the microcontroller; it also consists of an IMU6050 navigation sensor, stabilization and positioning used to obtain information from the prototype in operation, These data are sent by I2C communication to a data receiver in the LabVIEW software, it is worth mentioning that the IMU6050 sensor is calibrated to get accurate data, being the beginning the path of the data monitoring process. As a result, a bio-inspired underwater robot is built. Simulation and data collection are presented in Chapter III of this document. With the tests carried out, it was possible to evaluate the movements of the different bio-inspired fins together with the body of the fish, checking their buoyancy and its twodimensional displacement; it is concluded that the bioinspired robot complies with the operation of its SMA-based actuators that allow buoyancy and two-dimensional displacement in a controlled environment, it is recommended for future applications develop custom SMA actuators with a more significant number of degrees of freedom as your application requires.