Design and test of wirelessly powered IPMC artificial muscle for aquatic ecosystem health applications

Abstract

Aquatic environments and water resources face a variety of risks from numerous sources of pollution. In this paper, we propose a preliminary mechanism for realizing robotic technology practically and cost-effectively for monitoring these pollutions. The presented system is a small robotic fish propelled by a beam of ionic polymer-metal composite (IPMC) artificial muscle that imitates the motion of a small Scorpis Georgiana fish. One of the superiorities of the proposed model is the IPMC actuation mechanism powered by a battery that is charged wirelessly from a solar panel source. This approach enables us to produce a robotic fish that works ceaselessly without being forced to carry the solar panel load. Moreover, we present a method to control the flapping motion of a robotic fish by taking advantage of a tiny Wi-Fi module that yields more working range, bulky data sending, low power consumption, simple programing, and convenient communication for creating a network with other similar robots. All these beneficial characteristics make the proposed structure a promising candidate for detecting pollution on the surface of aquatic environments and sending/recording necessary data in collaboration with desirable sensors. Theoretical considerations support experimental results reported in the paper.

Current research status of ionic polymer–metal composites in applications of low-voltage actuators

“…Due to the high flexibility, strong affinity for aqueous environments, low driving voltage (<5 V), large displacement, miniaturization capabilities, and plasticity of IPMC materials, they have promising potential as a driving/motion device for underwater robots. 100 Researchers have reported experimental models of IPMCs for underwater robots, such as Gupta Ankur et al 101 and Safari Yousef et al 102 These models used IPMC artificial muscle bundles to achieve precise and continuous movement. Traver José Emilio et al 103 analyzed the bending of IPMC segments in a swimming robot driven by artificial eukaryotic flagella (AEF) to investigate the generation of planar wave motion through distributed driving.…”

A Review of Robotic Fish Based on Smart Materials

“…Biomimetics 2023, 8, x FOR PEER REVIEW 11 of 28 occurs, allowing for its utilization in various applications that require flexible yet robust actuation [59]. In 2022, Hubbard et al [60] presented a photovoltaic-powered IPMC-driven robotic fish, designed to monitor pollutants in aquatic ecosystems as depicted in Figure 7b. The robotic fish, with a width of 50 mm and a weight of 100 g, was equipped with a wireless energy transmission system that utilized a solar panel for power generation.…”

“…( a ) The principle of IPMCs [ 59 ]. ( b ) Bionic robotic fish inspired by Scorpis Georgiana fish [ 60 ]. ( c ) The average velocity of the robotic fish versus frequency applied to the IPMC [ 60 ].…”

“…( b ) Bionic robotic fish inspired by Scorpis Georgiana fish [ 60 ]. ( c ) The average velocity of the robotic fish versus frequency applied to the IPMC [ 60 ]. ( d ) Measured power consumption of the robotic fish versus the frequency of the applied voltage to the IPMC [ 60 ].…”

“…( c ) The average velocity of the robotic fish versus frequency applied to the IPMC [ 60 ]. ( d ) Measured power consumption of the robotic fish versus the frequency of the applied voltage to the IPMC [ 60 ]. ( e ) Robotic fish propelled by two-joint hybrid fish tail [ 61 ].…”