TY - GEN
T1 - On the thrust efficiency of an IPMC actuated robotic swimmer
T2 - 22nd International Offshore and Polar Engineering Conference, ISOPE-2012
AU - Shen, Qi
AU - Wang, Tianmiao
AU - Wen, Li
AU - Liang, Jianhong
AU - Chen, Yang
PY - 2012
Y1 - 2012
N2 - An efficiency model for a biomimetic robotic swimmer that propelled by an ionic polymer-metal composite (IPMC) actuation is proposed in this paper. The model incorporates both hydrodynamics of IPMC and the flexible fin of robotic swimmer, and the actuation model of IPMC has been presented. The parameters of the model were derived through fundamental character of IPMC. Robotic swimmer experiments are conducted on a towing system to validate the model. The thrust force, power consumption were simultaneously measured on the experimental device. The results showed that the model can well predict the thrust efficiency of the robotic swimmer under varied actuated frequencies. According to the experiment data, the highest measured efficiency is 2.4×10- 3, and it has an optimal point when the operating frequency approximates 1 Hz. The model is available for the optimal design of the IPMC-Actuated robotic swimmer to achieve better thrust performance and higher thrust efficiency.
AB - An efficiency model for a biomimetic robotic swimmer that propelled by an ionic polymer-metal composite (IPMC) actuation is proposed in this paper. The model incorporates both hydrodynamics of IPMC and the flexible fin of robotic swimmer, and the actuation model of IPMC has been presented. The parameters of the model were derived through fundamental character of IPMC. Robotic swimmer experiments are conducted on a towing system to validate the model. The thrust force, power consumption were simultaneously measured on the experimental device. The results showed that the model can well predict the thrust efficiency of the robotic swimmer under varied actuated frequencies. According to the experiment data, the highest measured efficiency is 2.4×10- 3, and it has an optimal point when the operating frequency approximates 1 Hz. The model is available for the optimal design of the IPMC-Actuated robotic swimmer to achieve better thrust performance and higher thrust efficiency.
KW - Biomimetic robotic fish
KW - Hydrodynamic modeling
KW - Ionic polymer-metal composites
KW - Thrust efficiency measurement
UR - https://www.scopus.com/pages/publications/84866074353
M3 - 会议稿件
AN - SCOPUS:84866074353
SN - 9781880653944
T3 - Proceedings of the International Offshore and Polar Engineering Conference
SP - 556
EP - 562
BT - Proceedings of the 22nd (2012) International Offshore and Polar Engineering Conference
Y2 - 17 June 2012 through 22 June 2012
ER -