Ionic polymer-metal composite enabled robotic manta ray

Chen, Zheng; Um, Tae I.; Bart‐Smith, Hilary

doi:10.1117/12.880452

Cited by 15 publications

(12 citation statements)

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“…where τ is the thrust per unit width (τ = T/b) and we note from equations (30) and (31) that C τ ∝ Re 2 L . Substituting equation (29) into equation (31) gives…”

Section: Identification Of the Thrust Coefficientmentioning

confidence: 99%

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Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

2013

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This paper investigates fish-like aquatic robotics using flexible bimorphs made of macro-fiber composite (MFC) piezoelectric laminates for carangiform locomotion. In addition to noiseless and efficient actuation over a range of frequencies, geometric scalability, and simple design, bimorph propulsors made of MFCs offer a balance between the actuation force and velocity response for performance enhancement in bio-inspired swimming. The experimental component of the presented work focuses on the characterization of an elastically constrained MFC bimorph propulsor for thrust generation in quiescent water as well as the development of a robotic fish prototype combining a microcontroller and a printed-circuit-board amplifier to generate high actuation voltage for untethered locomotion. From the theoretical standpoint, a distributed-parameter electroelastic model including the hydrodynamic effects and actuator dynamics is coupled with the elongated-body theory for predicting the mean thrust in quiescent water. In-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated-body theory to predict the thrust output. The measured mean thrust levels in quiescent water (on the order of ∼10 mN) compare favorably with thrust levels of biological fish. An untethered robotic fish prototype that employs a single bimorph fin (caudal fin) for straight swimming and turning motions is developed and tested in free locomotion. A swimming speed of 0.3 body-length/second (7.5 cm s⁻¹ swimming speed for 24.3 cm body length) is achieved at 5 Hz for a non-optimized main body-propulsor bimorph combination under a moderate actuation voltage level.

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“…where τ is the thrust per unit width (τ = T/b) and we note from equations (30) and (31) that C τ ∝ Re 2 L . Substituting equation (29) into equation (31) gives…”

Section: Identification Of the Thrust Coefficientmentioning

confidence: 99%

“…Another manipulation of equations (30) and (31) provides the variation of the mean thrust with modified Reynolds number as…”

Section: Identification Of the Thrust Coefficientmentioning

confidence: 99%

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

2013

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“…Both oscillatory and undulatory MPF mechanisms were developed in the literature, with a preference towards pectoral fin labriform-type swimming. Concerning oscillatory-type MPF movement, labriform swimming has received special attention inspiring mechanisms that mimics black basses [102], sea turtles [103][104][105][106][107], sunfishes [108,109], flapping foils [110][111][112], rays [113][114][115][116][117][118][119][120], knifefishes [121][122][123][124][125][126][127][128], etc. Concerning undulatory-type MPF locomotion, little interest has been showed by comparison with oscillatory MPF movement.…”

Section: Mpf Swimming Modesmentioning

confidence: 99%

“…Table 2 summarizes the MPF swimming mechanisms mentioned, including the authors, institution, propulsion mode, and source of inspiration. [108,109] Franklin W. Olin College of Engineering, USA Labriform Sunfish Georgiades et al [110] McGill University, Canada Labriform Flapping foil Long et al [111] Vassar College, USA Labriform Flapping foil Sitorus et al [112] Bandung Institute of Technology, Indonesia Labriform Flapping foil Cai et al [113] Beihang University, China Rajiform Ray Punning et al [114] Tartu Univeristy, Estonia Rajiform Ray Chen et al [115] University of Virginia, USA Rajiform Ray Clark and Smiths [116] Princeton University, USA Rajiform Ray Low, K.H. [117]; Zhang et al [118,119] Nanyang Technological University, Singapore Rajiform Ray Low and Willy [120] Nanyang Technological University, Singapore Rajiform/gymnotiform Ray/knifefish Low [121]; Low [122]; Hu et al [123]; Low [124] Nanyang Technological University, Singapore Gymnotiform Knifefish Epstein et al [125] Northwestern University, USA Gymnotiform Knifefish McIver et al [126,127] Northwestern University, USA Gymnotiform Knifefish Siahmansouri et al [128] University of Tabriz, Iran Gymnotiform Knifefish…”

Section: Mpf Swimming Modesmentioning

confidence: 99%

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Galdo

Rodríguez²

2020

JMSE

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The aim of the present paper is to provide the state of the works in the field of hydrodynamics and computational simulations to analyze biomimetic marine propulsors. Over the last years, many researchers postulated that some fish movements are more efficient and maneuverable than traditional rotary propellers, and the most relevant marine propulsors which mimic fishes are shown in the present work. Taking into account the complexity and cost of some experimental setups, numerical models offer an efficient, cheap, and fast alternative tool to analyze biomimetic marine propulsors. Besides, numerical models provide information that cannot be obtained using experimental techniques. Since the literature about trends in computational simulations is still scarce, this paper also recalls the hydrodynamics of the swimming modes occurring in fish and summarizes the more relevant lines of investigation of computational models.

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“…Other work on performance-enhancing methods for IPMCs include boosting the capacitance of the composite material [30,31]. The IPMCs are traditionally manufactured into thin film or plate-like structures, but recent work has focused on disk shape [32], rod shape [33], and other complex geometries and configurations [34][35][36]. Furthermore, by patterning the electrodes on the surface of an IPMC, a monolithic structure can be created for both sensing and actuation [37], and even for realizing complex actuation patterns [38][39][40].…”

Section: Introduction To the Themed Articles On Ionic Polymer-metal Cmentioning

confidence: 99%

Introduction to the themed articles on ionic polymer–metal composites

Leang

2012

International Journal of Smart and Nano Materials

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Ionic polymer-metal composite enabled robotic manta ray

Cited by 15 publications

References 0 publications

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Introduction to the themed articles on ionic polymer–metal composites

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