TY - JOUR
T1 - Experimental investigation of biomimetic robotic fish actuated by IPMC
AU - Shen, Qi
AU - Han, Chenhao
AU - Wang, Tianmiao
AU - Liang, Jianhong
PY - 2014/12/1
Y1 - 2014/12/1
N2 - The thrust efficiency of a biomimetic robotic fish was experimentally measured, which was propelled by an ionic polymer-metal composite (IPMC) actuator. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. A maximum thrust efficiency of 2.3×10-3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.025 3 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.
AB - The thrust efficiency of a biomimetic robotic fish was experimentally measured, which was propelled by an ionic polymer-metal composite (IPMC) actuator. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. A maximum thrust efficiency of 2.3×10-3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.025 3 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.
KW - Biomimetic robotic fish
KW - Hydrodynamic experiment
KW - Ionic polymer-metal composites
KW - Self-propulsion
KW - Thrust efficiency measurement
UR - https://www.scopus.com/pages/publications/84921029828
U2 - 10.13700/j.bh.1001-5965.2013.0748
DO - 10.13700/j.bh.1001-5965.2013.0748
M3 - 文章
AN - SCOPUS:84921029828
SN - 1001-5965
VL - 40
SP - 1730
EP - 1735
JO - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
JF - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
IS - 12
ER -