An autonomous micro robot fish based on IPMC actuator

被引：7
|
作者：
Su Y. [1 ]
Ye X. [1 ]
Guo S. [1 ,2 ]
机构：
[1] Harbin Engineering University
[2] Kagawa University
来源：
Jiqiren/Robot | 2010年 / 32卷 / 02期
关键词：
IPMC (ionic polymer metal composite); Locomotion pattern; Micro robot fish; Obstacle avoidance;
D O I：
10.3724/SP.J.1218.2010.00262
中图分类号：
学科分类号：
摘要：
The structure and control system of micro robot fish are designed based on the properties of the IPMC (ionic polymer metal composite) after analyzing locomotion and force of small fish. Then efficiency improvement of the IPMC is discussed, and various locomotion patterns are realized on the micro robot fish. The experimental results prove that an IPMC based centimeter scale micro robot fish is feasible. The velocity control can be realized by changing frequency and duty ratio of the control signal, and ascent-descent, turning, cruising can be realized by the cooperation of pectoral fin and caudal fin. Finally, this paper analyzes how to improve propulsive efficiency from the viewpoint of structure design of the caudal fin propulsor.
引用
收藏
页码：262 / 270
页数：8
相关论文
共 19 条
  • [1] Fukuda T., Kawamoto A., Arai F., Et al., Steering mechanism of underwater micro mobile robot, IEEE International Conference on Robotics and Automation, pp. 363-368, (1995)
  • [2] Fukuda T., Hosokai H., Kikuchi I., Distributed type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism, IEEE International Conference on Robotics and Automation, pp. 1316-1321, (1990)
  • [3] Mojarrad M., Shahinpoor M., Biomimetic robot propulsion using polymeric artificial muscles, IEEE International Conference on Robotics and Automation, pp. 2152-2157, (1997)
  • [4] Shahinpoor M., Conceptual design, kinematics and dynamics of swimming robotic structures using ionic polymeric gel muscles, Smart Materials and Structures, 1, 1, pp. 91-94, (1992)
  • [5] Hang G., Wang Z., Li J., Et al., Development of a caudal-fin-propelled micro robot fish based on flexible fins, Robot, 30, 2, (2008)
  • [6] Shahinpoor M., Kim K.J., Ionic polymer-metal composites: I. Fundamentals, Smart Materials and Structures, 10, 4, pp. 819-833, (2001)
  • [7] Guo S.X., Fukuda T., Asaka K., A new type of fish-like underwater microrobot, IEEE/ASME Transactions on Mechatronics, 8, 1, pp. 136-141, (2003)
  • [8] Kim B., Kim D.H., Jung J.H., Et al., A biomimetic undulatory tadpole robot using ionic polymer-metal composite actuators, Smart Materials and Structures, 14, 6, pp. 1579-1585, (2005)
  • [9] Tan X.B., Kim D., Usher N., Et al., An autonomous robotic fish for mobile sensing, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5424-5429, (2006)
  • [10] Ye X.F., Su Y.D., Guo S.X., Infrared motion guidance and obstacle avoidance of an ICPF actuated underwater microrobot, IEEE International Conference on Mechatronics and Automation, pp. 1851-1856, (2007)
12