Modeling dynamics of underwater vehicles actuated by ionic polymer metal composite (IPMC) actuators

Shivakanth Gutta; WooSoon Yim; Mohamed B. Trabia

doi:10.1117/12.815399

6 April 2009 Modeling dynamics of underwater vehicles actuated by ionic polymer metal composite (IPMC) actuators

Shivakanth Gutta, WooSoon Yim, Mohamed B. Trabia

Proceedings Volume 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009; 728716 (2009) https://doi.org/10.1117/12.815399
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2009, San Diego, California, United States

Abstract

In this paper, a finite element-based dynamic model is developed for a miniature underwater vehicle propelled by Ionic Polymer Metal Composite (IPMC) actuator. The proposed approach describes the electro-mechanical actuation using a large deflection beam model. Hydrodynamic forces including frictional effects are also considered. The hydrodynamic force coefficients are identified based on the results of extensive computational fluid dynamics (CFD) simulations. Experimental results have shown that the proposed model predicts the motion of the vehicle accurately for different actuation signals. The proposed model can lead to the development of an underwater vehicle, which can achieve complex set of maneuvers. It can also contribute to developing both open and closed-loop control algorithms for the robotic vehicles.

Citation Download Citation

Shivakanth Gutta, WooSoon Yim, and Mohamed B. Trabia "Modeling dynamics of underwater vehicles actuated by ionic polymer metal composite (IPMC) actuators", Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 728716 (6 April 2009); https://doi.org/10.1117/12.815399

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available