On the thrust performance of an ionic polymer-metal composite actuated robotic fish: Modeling and experimental investigation

2012 ◽  
Vol 55 (12) ◽  
pp. 3359-3369 ◽  
Author(s):  
TianMiao Wang ◽  
Qi Shen ◽  
Li Wen ◽  
JianHong Liang
Keyword(s):  
Experimental Investigation ◽  
Robotic Fish ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Thrust Performance

Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Zheng Chen ◽  
Piqi Hou ◽  
Zhihang Ye
Keyword(s):  
Steady State ◽  
Dynamic Model ◽  
Robotic Fish ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Servo Motor ◽  
Ionic Polymer ◽  
Soft Actuator ◽  
Polymer Metal ◽  
Motion Dynamics

In this paper, a new robotic fish propelled by a hybrid tail, which is actuated by two active joints, is developed. The first joint is driven by a servo motor, which generates flapping motions for main propulsion. The second joint is actuated by a soft actuator, an ionic polymer-metal composite (IPMC) artificial muscle, which directs the propelled fluid for steering. A state-space dynamic model is developed to capture the two-dimensional (2D) motion dynamics of the robotic fish. The model fully captures the actuation dynamics of the IPMC soft actuator, two-link tail motion dynamics, and body motion dynamics. Experimental results have shown that the robotic fish is capable of swimming forward (up to 0.45 body length/s) and turning left and right (up to 40 deg/s) with a small turning radius (less than half a body length). Finally, the dynamic model has been validated with experimental data, in terms of steady-state forward speed and turning speed at steady-state versus flapping frequency.

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