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Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail

Zheng Chen,Piqi Hou,Zhihang Ye

Published 2019 in Journal of Dynamic Systems Measurement, and Control

ABSTRACT

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.

PUBLICATION RECORD

  • Publication year

    2019

  • Venue

    Journal of Dynamic Systems Measurement, and Control

  • Publication date

    2019-07-01

  • Fields of study

    Materials Science, Engineering

  • Identifiers
    DOI 10.1115/1.4043101
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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