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Volume 27 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(2): 149-156
BIAN Chang-sheng, BAI Wan-fa, ZHU Zi-Cai, RU Jie, CHEN Hua-ling. Research on Actuating Technology of IPMC-Based Biomimetic Robotic Fish[J]. Journal of Unmanned Undersea Systems, 2019, 27(2): 149-156. doi: 10.11993/j.issn.2096-3920.2019.02.005
Citation: BIAN Chang-sheng, BAI Wan-fa, ZHU Zi-Cai, RU Jie, CHEN Hua-ling. Research on Actuating Technology of IPMC-Based Biomimetic Robotic Fish[J]. Journal of Unmanned Undersea Systems, 2019, 27(2): 149-156. doi: 10.11993/j.issn.2096-3920.2019.02.005
shu

Research on Actuating Technology of IPMC-Based Biomimetic Robotic Fish

doi: 10.11993/j.issn.2096-3920.2019.02.005

  • School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China

  • Received Date: 2018-10-12
  • Rev Recd Date: 2019-01-20
  • Publish Date: 2019-04-30
    Abstract
  • An ionic polymer-metal composite(IPMC) is suitable for the swing actuating structure of a biomimetic robotic fish because it is able to produce bending deformation under low voltage. In this paper, the research status of a biomimetic robotic fish based on soft smart materials is analyzed. It shows that actuating performance of the IPMC-based biomimetic robotic fish is unsatisfactory, such as slow speed and low load capacity, which are due to poor output force and low efficiency of the stacking structure. In order to improve the performance of the biomimetic robotic fish and widen its application, this paper matches overall performance of IPMC with the actuating demand of the biomimetic robotic fish. From the perspective of the materials, three actuating technologies for the biomimetic robotic fish are proposed as follows: the ultra-thick and large actuating force IPMC based on alcohol-assisted process; the fast response technology of IPMC based on impulsive voltage; and the spatial stacking structure actuating technology. Contrast experiments prove that these technologies can effectively improve the overall output force, the response speed, and the spatial stacking structure of stacking efficiency for IPMC actuating material. This study may provide a reference for the actuating structure design of the biomimetic robotic fish.

     

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