Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin

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

Science China Technological Sciences ◽

10.1007/s11431-012-5025-0 ◽

2012 ◽

Vol 55 (12) ◽

pp. 3359-3369 ◽

Cited By ~ 15

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

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Bio-Inspired Robotic Fish Propelled by Multiple Artificial Fins

Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation ◽

10.1115/dscc2016-9915 ◽

2016 ◽

Author(s):

Piqi Hou ◽

Zhihang Ye ◽

Zheng Chen

Keyword(s):

Smart Materials ◽

Robotic Fish ◽

Circuit Board ◽

Metal Composite ◽

Ionic Polymer ◽

Pectoral Fins ◽

Polymer Metal ◽

Programmable Circuit ◽

Robot Fish ◽

Biomimetic Robotic Fish

With advances in actuation and sensing, smart materials has drawn a growing attention from researchers in under water robotic fish. In this paper, a compact, noiseless, and untethered biomimetic robotic fish propelled by Ionic Polymer-Metal Composite (IPMC) actuators is developed. The robot fish employs two pectoral fins to generate steering and one caudal fin to generate main propulsion. A passive plastic fin is attached to the IPMC beam to enhance propulsion. With multiple IPMC fins, the fish is capable of 2D maneuvering. One small size programmable circuit board is designed for the 2D controllable fish. The Experimental results have shown that the forward-swimming speed can reach up to 1cm/sec and the both left-turning and right turning speed can reach up to 2 rad/sec.

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