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

Chen, Zheng; Hou, Piqi; Ye, Zhihang

doi:10.1115/1.4043101

Cited by 28 publications

(12 citation statements)

References 35 publications

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“…Authors in [39] implemented a multi-link fish and a bionic tail driving system through a planetary gearing mechanism to provide power during a traveling wave generation. Moreover, similar to works depicted in figures 3(c), 6(a) and 6(c), work [40] presented a two active joints (servo and ionic polymer-metal composite) carangiform-type robot fish, a servo for element propelling and a polymer-metal composite for tail steering moment.…”

Section: Carangiform Swimmer Robotssupporting

confidence: 54%

Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

Martínez‐García

Lavrenov

Magid

2022

ACRT

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Researchers have developed numerous artificial fish to mimic the swimming abilities of biological species and understand their biomechanical subaquatic skills. The motivation arises from the interest to gain deeper comprehension of the efficient nature of biological locomotion, which is the result of millions of years of evolution and adaptation. Fin-based biological species developed exceptional swimming abilities and notable performance in highly dynamic and complex subaquatic environments. Therefore, based on research by the scientific community, this mini-review concentrates on discussing the mechanical devices developed to implement the caudal propulsive segments of robotic fish. Caudal mechanisms are of considerable interest because they may be designed to control inertial and gravitational forces, as well as exerting great dynamic range in robotic fish. This manuscript provides a concise review focused on the engineering implementations of caudal mechanisms of anguilliform, subcarangiform, subcarangiform, thunniform and ostraciiform swimming modes.

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Section: Carangiform Swimmer Robotssupporting

confidence: 54%

Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

Martínez‐García

Lavrenov

Magid

2022

ACRT

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“…Regarding the performance and characteristics of IPMC, Shahinpoor and Kim [4][5][6][7] provided systematic overviews, introducing the fundamental properties, manufacturing techniques, phenomenological modeling, and applications. In the application of IPMC to bionic robotic fish in recent years, Chen et al [8] designed a hybrid tail-driven IPMC novel robotic fish driven by two active joints, proposed a statespace model to capture the two-dimensional motion dynamics of robotic fish, and exploited experimental data to validate the kinetic model. Karthigan et al [9] analyzed and designed IPMC underwater propulsors inspired from swimming of labriform fish.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling of a fish tail actuated by IPMC actuator based on the absolute nodal coordinate formulation

Li¹,

Guo²,

Liu³

et al. 2022

Smart Mater. Struct.

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Ionic polymer metal composite (IPMC) is a smart material with low driving voltage, high energy conversion, light weight and simple structure. It is suitable for driving the tail fin of small bionic fish. Actuators made of this material are quite flexible, and they are laborious to accurately describe the complex deformation of structures. Absolute nodal coordinate formulation (ANCF) has great merits in describing large deformation and large displacement problems. In this paper, the feasibility of ANCF in dynamic modeling of a fish tail actuated by IPMC actuator will be explored for the first time. The tail fin is simplified into two forms: a pure flexible IPMC beam and a hybrid beam that consists of an IPMC beam and a fixed rigid beam. The ANCF one-dimensional two-node beam element is adopted. Considering the influence of deformation curvature, the exact expression of generalized elastic force is obtained. The proposed dynamic model can describe the large deformation problem of the flexible beam. The dynamic responses of the pure IPMC beam tail fin and the hybrid tail fin driven by square wave voltage are calculated. The displacement changes of end nodes are compared, and the swing law under different driving voltage amplitude, frequency, and whether there is fluid resistance is analyzed. It is found that the driving efficiency of IPMC can be improved by increasing the driving voltage amplitude, reducing the voltage frequency, and reducing the fluid resistance in a certain range. This research would be beneficial to the study of the large swing motion mechanism of bionic robotic fish.

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“…Various soft robots available in different shapes and functions have been developed to achieve bionic motion. The major actuation methods of these soft robots include: shape memory alloy (SMA) [ 2 , 3 , 4 ], pneumatic actuator [ 5 , 6 , 7 ], dielectric elastomer actuator (DEA) [ 8 , 9 , 10 ], ionic polymer–metal composite (IPMC) [ 11 , 12 , 13 ], motor & tendon [ 14 , 15 , 16 ], liquid crystal elastomer (LCE) [ 17 , 18 , 19 ], shape memory polymer (SMP) [ 20 , 21 ], etc. Modularity is a current trend in the field of soft robotics, which means that general adaptive soft robot modules are developed and assembled into soft robots with different functions according to actual needs.…”

Section: Introductionmentioning

confidence: 99%

A Proprioceptive Soft Robot Module Based on Supercoiled Polymer Artificial Muscle Strings

et al. 2022

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In this paper, a multi-functional soft robot module that can be used to constitute a variety of soft robots is proposed. The body of the soft robot module made of rubber is in the shape of a long strip, with cylindrical chambers at both the top end and bottom end of the module for the function of actuators and sensors. The soft robot module is driven by supercoiled polymer artificial muscle (SCPAM) strings, which are made from conductive nylon sewing threads. Artificial muscle strings are embedded in the chambers of the module to control its deformation. In addition, SCPAM strings are also used for the robot module’s sensing based on the linear relationship between the string’s length and their resistance. The bending deformation of the robot is measured by the continuous change of the sensor’s resistance during the deformation of the module. Prototypes of an inchworm-like crawling robot and a soft robotic gripper are made, whose crawling ability and grasping ability are tested, respectively. We envision that the proposed proprioceptive soft robot module could potentially be used in other robotic applications, such as continuum robotic arm or underwater robot.

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

Cited by 28 publications

References 35 publications

Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

Dynamic modeling of a fish tail actuated by IPMC actuator based on the absolute nodal coordinate formulation

A Proprioceptive Soft Robot Module Based on Supercoiled Polymer Artificial Muscle Strings

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