6 April 2009 Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin
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Abstract
In this paper, a model is proposed for a biomimetic robotic fish propelled by an ionic polymer metal composite (IPMC) actuator with a rigid passive fin at the end. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state speed of the robot under a periodic actuation voltage. Experimental results have shown that the proposed model can predict the fish motion for different tail dimensions. Since its parameters are expressed in terms of physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.
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Zheng Chen, Stephan Shatara, Xiaobo Tan, "Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin", Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 72871M (6 April 2009); doi: 10.1117/12.815789; https://doi.org/10.1117/12.815789
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