Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin

Zheng Chen; Stephan Shatara; Xiaobo Tan

doi:10.1117/12.815789

6 April 2009 Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin

Zheng Chen, Stephan Shatara, Xiaobo Tan

Proceedings Volume 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009; 72871M (2009) https://doi.org/10.1117/12.815789
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2009, San Diego, California, United States

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.

Citation Download Citation

Zheng Chen, Stephan Shatara, and 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); https://doi.org/10.1117/12.815789

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