Fish Inspired Biomimetic Ionic Polymer-Metal Composite Pectoral Fins Using Labriform Propulsion

Karthigan, G.; Mukherjee, Sujoy; Ganguli, Ranjan

doi:10.1080/15376494.2014.884656

Cited by 11 publications

(6 citation statements)

References 57 publications

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“…The equivalent beam model equated the IPMC actuator to a cantilever beam and incorporated the material characteristics of the actuator into the model. Such models can predict actuator displacement, [10,17,[73][74][75][76][77][78][79][80] develop controllers, [81][82][83][84] optimize actuator performance, [73][74][75]77] and develop IPMC-based devices. [17,[78][79][80]83]…”

Section: Equivalent Beam Modelsmentioning

confidence: 99%

See 1 more Smart Citation

Application‐Oriented Modeling of Soft Actuator Ionic Polymer–Metal Composites: A Review

Jiang,

Lin,

et al. 2023

Advanced Intelligent Systems

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Compared to conventional actuators, the soft ionic polymer–metal composite (IPMC) actuator has significant advantages in specific applications, and the mathematical model of IPMC actuators is essential to comprehending and applying IPMCs. Due to the inherent characteristics of IPMCs and the impact of the manufacturing and measurement processes, it is challenging to developa reliable model. This article provides a comprehensive overview of the developments in IPMC actuator modeling. In particular, three types of models are examined and contrasted: the nonphysical identification model, the partial‐physical model, and the physical‐based model. In order to comprehend the current state of numerous IPMC actuator models, the characteristics, evolution, and functions of each type of model are discussed. Afterward, the evolution of the IPMC actuators’ applications is discussed. Finally, promising research directions for IPMC actuator models are identified that can more effectively facilitate the development of IPMC‐based devices.

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Section: Equivalent Beam Modelsmentioning

confidence: 99%

“…Such models can predict actuator displacement, [10,17,[73][74][75][76][77][78][79][80] develop controllers, [81][82][83][84] optimize actuator performance, [73][74][75]77] and develop IPMC-based devices. [17,[78][79][80]83]…”

Section: Equivalent Beam Modelsmentioning

confidence: 99%

Application‐Oriented Modeling of Soft Actuator Ionic Polymer–Metal Composites: A Review

Jiang,

Lin,

et al. 2023

Advanced Intelligent Systems

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“…According to their findings, using a Kármán gaiting locomotion in bio-inspired flexible underwater robots allows for the exploitation of energy from the surrounding turbulence. There have been numerous studies on the locomotion patterns of underwater robotic systems with extensive experimental studies on the effects of tail flapping motion, the length of the tail and even complex kinematic motion patterns for robotic fishes, but these have always concentrated on control of the posterior body, such as [8][9][10][11][12][13][14][15][16], to name a few of these studies. Some recent research, like Akanyeti et al [17], Scaradozzi et al [18] and Lou et al [3], both published in 2017, consider the head motion or a head shaking respectively, in the motion pattern of a swimming robotic fish to be key in achieving thrust.…”

Section: Introductionmentioning

confidence: 99%

On the influence of head motion on the swimming kinematics of robotic fish

Abbaszadeh,

Kiiski,

Leidhold

et al. 2023

Bioinspir. Biomim.

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Up to now bio-inspired fish-mimicking robots fail when competing with the swimming performance of real fish. While tail motion has been studied extensively, the influence of the head motion is still not fully understood and its active control is challenging.In this experimental study, we show that head yawing strongly impacts on the propulsion force and determines the optimal fin actuation amplitude and tail beat frequency when aiming for a maximal propulsion force. In a parametric experimental study on a tethered 367 mm long fish robot the pivot point location of the head yaw has been varied along with tail beat frequency and actuation amplitude. The experiments took place in a still water tank and the swimming force has been measured with a single axis load cell. The robot is actuated with non-conventional area actuators based on micro fiber composites. 105 parameter sets have been investigated while the highest pivot point distance of roughly 0.36 body length from the nose tip provided the highest propulsion force of 500~mN with the lowest actuation frequency of 2.5 Hz and the highest head motion amplitude of a magnitude of 0.18 body length. Even though the pivot point location on a free swimming robot is a consequence of the complex fluid-structure interactions of fish and fluid, the results provide valuable information for the design of fish mimicking robots and questions the paradigm that head yaw is a simple recoil effect from tail motion and has to be minimized for an effective propulsion.In this experimental study, we show that head motion, fin actuation amplitude, tail beat frequency and propulsion force interact with the head pivot point location and strongly impact on the swimming capacity.

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“…Smart materials, such as ionic polymer metal composite (IPMC), shape memory alloy (SMA), and piezoelectric materials, can replace the electromagnetic motor as the driving device of a robotic pectoral fin. Karthigan et al proposed a flexible pectoral fin based on IPMC, which can achieve a degree of freedom of movement [14]. Yan and Zhang et al designed a two-degree-of-freedom robotic pectoral fin with a drive unit composed of multiple SMA wires, which can realize rowing and flapping motions [15,16].…”

Section: Introductionmentioning

confidence: 99%

A novel 3-DoF piezoelectric robotic pectoral fin: design, simulation, and experimental investigation

Liu¹,

Wang²,

Jin³

et al. 2022

Smart Mater. Struct.

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The fish pectoral fins, which play a vital role for fish swimming mobility, can perform three de-gree-of-freedom movements (rowing, feathering, and flapping motions), promoting that a lot of bionic robotic pectoral fins have been proposed and developed. However, these developed robotic pectoral fins driven by electromagnetic motors or smart materials still cannot fully realize the aforementioned three movement modes. To solve this problem, a novel piezoelectric robotic pectoral fin based on the converse piezoelectric effect and friction drive principle is proposed in this study, to achieve the three motion modes. Using a piezoelectric actuator, the robotic pectoral fin can be driven to move with three degree-of-freedom motion modes. Firstly, the overall structures of the proposed piezoelectric robotic pectoral fin and the designed piezoelectric actuator are explained in detailed. Additionally, a finite element simulation and a combination of vibration measurement and impedance analysis experiments are carried out to verify the effectiveness of the proposed piezoelectric actuator. Finally, an experi-mental investigation is conducted to evaluate output performances of the robotic pectoral fin proto-type. Experimental results indicated that 1) the maximum average velocities of the rowing and flap-ping motions of the pectoral fin prototype under an excitation voltage of 550 Vpp are 290 deg/s and 241.7 deg/s, respectively, and the maximum rotation speed of the feathering motion is 6.03 deg/s; 2) The maximum output forces of the rowing and flapping motions of the pectoral fin are 2.156 N and 2.107 N, respectively; 3) Rowing motion start stop response times are13 ms and 10.6ms, flapping motion start and stop response times are 14.2 ms and 9.2 ms, and feathering motion start/stop response times are 34 ms and 56.8 ms, respectively.

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Fish Inspired Biomimetic Ionic Polymer-Metal Composite Pectoral Fins Using Labriform Propulsion

Cited by 11 publications

References 57 publications

Application‐Oriented Modeling of Soft Actuator Ionic Polymer–Metal Composites: A Review

Application‐Oriented Modeling of Soft Actuator Ionic Polymer–Metal Composites: A Review

On the influence of head motion on the swimming kinematics of robotic fish

A novel 3-DoF piezoelectric robotic pectoral fin: design, simulation, and experimental investigation

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