3D-Printed Electromagnetic Actuator for Bionic Swimming Robot

Three-dimensional printing has received tremendous interest because of the various potential applications in robotics, electronics, aerospace, and biomedicine. Current initiatives in the development of 3D-printed robotics involve soft bionic structures with functional materials. In this paper, a 3D-printed bionic robotic fish has been designed and fabricated by direct ink writing (DIW) 3D printing. The robotic fish consists of four main parts: two-laminated caudal fins, rigid fish body with permanent magnet counted in tail, tiny battery, and controller. The robot is modeled based body/caudal actuation of coaxial circuit actuator. In a driven process, electric energy is transformed into mechanical energy of caudal fins, generating robotic fish swimming movement. With the assistance of 3D printing technique, an underwater robot of well-optimized shape and light weight is manufactured with total size of 200 mm (length) × 50 mm (width) × 30 mm (height). The embedded battery offers power for whole movements, and Arduino controls the waveform of signal. Overall, this robotic fish combines 3D-printed functional structures and embedded electronics in a total compact size with good mobility, showing intensive applications of underwater activities as well as other special tasks.