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Abstract
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Article Information:
Mechanical Performance of Polyisoprene used in Building a Flapping Foil Underwater Robot
M.O. Afolayan, D.S. Yawas, C.O. Folayan and S.Y. Aku
Corresponding Author: Afolayan Matthew Olatunde
Submitted: 2010 December, 01
Accepted: 2010 December, 30
Published: 2011 June, 25 |
Abstract:
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Imitating living object mechanically is the current trend in the frontier of robotics. A better imitation
is assured if the material used for the joints is a biological equivalent. Polyisoprene (Natural Rubber) has some
physical properties that is close to muscle material and is thus presented in this work. The problem of it
becoming soft as it get involved in repetitive task of oscillation and bearing weights of attached part led to
designing a dedicated testing machine to find out the rate not to exceed. The rubber sample used was found to
show significant softening at frequency of 25 Hz. The polyisoprene material was used to build simple planar
joint and adapted for flapping foil underwater robot in the form of a Mackerel robotic fish (394.01 mm long).
A test at frequency of 2 Hz (an average swimming value) works perfectly well - it has proper kinematics as that
of a living fish.
Key words: Biomimetic, elastomer, fish robot, hyper-redundant robots, rubber, ,
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Cite this Reference:
M.O. Afolayan, D.S. Yawas, C.O. Folayan and S.Y. Aku, . Mechanical Performance of Polyisoprene used in Building a Flapping Foil Underwater Robot. Research Journal of Applied Sciences, Engineering and Technology, (06): 474-485.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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