Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite actuator

2008 ◽  
Author(s):  
Ernest Mbemmo ◽  
Zheng Chen ◽  
Stephan Shatara ◽  
Xiaobo Tan
Keyword(s):  
Robotic Fish ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Composite Actuator ◽  
Polymer Metal ◽  
Biomimetic Robotic Fish

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

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Zheng Chen ◽  
Piqi Hou ◽  
Zhihang Ye
Keyword(s):  
Steady State ◽  
Dynamic Model ◽  
Robotic Fish ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Servo Motor ◽  
Ionic Polymer ◽  
Soft Actuator ◽  
Polymer Metal ◽  
Motion Dynamics

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.

Design of a remote-control drug delivery implantable chip for cancer local on demand therapy using ionic polymer metal composite actuator

2018 ◽  
Vol 86 ◽  
pp. 250-256 ◽  
Author(s):  
Matin Sadat Saneei Mousavi ◽  
Amir Hossein Karami ◽  
Mehrshad Ghasemnejad ◽  
Mohammadreza Kolahdouz ◽  
Faranak Manteghi ◽  
...  
Keyword(s):  
Drug Delivery ◽  
Remote Control ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Control Drug ◽  
On Demand ◽  
Composite Actuator ◽  
Polymer Metal ◽  
Control Drug Delivery

Feedforward control of an Ionic Polymer-Metal Composite actuator

2010 ◽  
Vol 33 (3-4) ◽  
pp. 875-881
Author(s):  
Minoru Sasaki ◽  
Yusuke Onouchi ◽  
Tomohito Ozeki ◽  
Hirohisa Tamagawa ◽  
Satoshi Ito
Keyword(s):  
Feedforward Control ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Composite Actuator ◽  
Polymer Metal
Sign in / Sign up

Export Citation Format

Share Document