Journal ArticleDOI
Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin
Reads0
Chats0
TLDR
In this article, a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator, which incorporates both IPMC actuation dynamics and hydrodynamics, and predicts the steady-state cruising speed of the robot under a given periodic actuation voltage.Abstract:
In this paper, a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator. Inspired by the biological fin structure, a passive plastic fin is further attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state cruising speed of the robot under a given periodic actuation voltage. The interactions between the plastic fin and the IPMC actuator are also captured in the model. Experimental results have shown that the proposed model is able to predict the motion of robotic fish for different tail dimensions. Since most of the model parameters are expressed in terms of fundamental physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.read more
Citations
More filters
Journal ArticleDOI
Soft Actuators for Small-Scale Robotics.
TL;DR: A detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications, including both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials.
Journal ArticleDOI
Fast-moving soft electronic fish
Tiefeng Li,Guorui Li,Yiming Liang,Tingyu Cheng,Dai Jing,Xuxu Yang,Bangyuan Liu,Zedong Zeng,Zhilong Huang,Yingwu Luo,Tao Xie,Wei Yang +11 more
TL;DR: This work is able to advance a soft electronic fish with a fully integrated onboard system for power and remote control, driven solely by a soft electroactive structure made of dielectric elastomer and ionically conductive hydrogel.
Journal ArticleDOI
Review of biomimetic underwater robots using smart actuators
Won-Shik Chu,Kyung-Tae Lee,Sung-Hyuk Song,Min-Woo Han,Jang-Yeob Lee,Hyung-Soo Kim,Min-Soo Kim,Yong-Jai Park,Kyu-Jin Cho,Sung-Hoon Ahn +9 more
TL;DR: In this article, a review of biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, is presented.
Journal ArticleDOI
Design and Locomotion Control of a Biomimetic Underwater Vehicle With Fin Propulsion
Chunlin Zhou,Kin Huat Low +1 more
TL;DR: In this paper, a robotic manta ray (RoMan-II) has been developed for potential marine applications, which can perform diversified locomotion patterns in water by manipulating two wide tins.
Journal ArticleDOI
Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications?
TL;DR: A brief overview on the full range of EAP actuator types and the most significant areas of interest for applications is presented, hoped that this overview can instruct the reader on how EAPs can enable bioinspired motion systems.
References
More filters
Dynamics of structures
Ray W. Clough,Joseph Penzien +1 more
TL;DR: In this article, a single-degree-of-freedom (SDF) dynamic system is considered, and the effect of different degrees of freedom on the dynamics of the system is investigated.
Journal ArticleDOI
Frequency response of cantilever beams immersed in viscous fluids with applications to the atomic force microscope
TL;DR: In this article, a detailed theoretical analysis of the frequency response of a cantilever beam that is immersed in a viscous fluid and excited by an arbitrary driving force is presented.
Journal ArticleDOI
Ionic polymer-metal composites: I. Fundamentals
Mohsen Shahinpoor,Kwang J. Kim +1 more
TL;DR: In this article, the fundamental properties and characteristics of ionic polymeric-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles are discussed.
Journal ArticleDOI
Note on the swimming of slender fish
TL;DR: In this paper, the authors determine what transverse oscillatory movements a slender fish can make which will give it a high Froude propulsive efficiency, and the recommended procedure is for the fish to pass a wave down its body at a speed of around of the desired swimming speed, the amplitude increasing from zero over the front portion to a maximum at the tail, whose span should exceed a certain critical value.