Diseño y control de una tilapia (Oreochromis niloticus) biomimética mediante actuadores de Nitinol

The development of bioinspired robots represents an innovative strategy to replicate the biomechanical principles of animal locomotion in environments that require energy efficiency and adaptability, such as aquatic settings. In this context, the objective of the present study is to design and control a biomimetic robot based on the tilapia (Oreochromis niloticus), using Nitinol wire as the main actuator to mimic the carangiform swimming pattern. A quantitative approach was employed, under an experimental design, and the research was situated within the field of applied studies. A morphological and biomechanical analysis of the fish was conducted, with emphasis on body segmentation and oscillation frequency. Subsequently, a prototype was designed using 3D printing with flexible materials that allow for lateral bending. The Nitinol thermal activation system, electronically regulated through PWM signals, generated sequential contractions that simulate the muscle movement of the fish. Simulations and experimental tests were carried out to validate the undulatory motion of the robot, achieving oscillation angles of ±15° per segment and a swimming frequency of up to 2.8 Hz. Statistical analysis of the data revealed a consistent response and significant differences in propulsion performance depending on the activation cycle (p < 0.05). In conclusion, the system successfully replicated the swimming dynamics of tilapia, demonstrating that the use of Nitinol as a smart actuator, combined with biomimetic design strategies, enables the development of functional and efficient solutions for underwater robotics.