Monolithic IPMC Fins for Propulsion and Maneuvering in Bioinspired Underwater Robotics
Monolithic IPMC Fins for Propulsion and Maneuvering in Bioinspired Underwater Robotics
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DOI：
10.1109/joe.2013.2259318
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发表时间：
2014-07-01
影响因子：
4.1
通讯作者：
Leang, Kam K.
中科院分区：
文献类型：
--
作者：
Hubbard, Joel J.;Fleming, Maxwell;Leang, Kam K.
新兴的受生物启发的水下系统，如自主海洋测绘和监视车辆，通过模仿水生动物的游泳运动在环境中机动，可以受益于软单片驱动器和能够承受复杂变形的控制表面。本文提出了一种具有独特图案电极的电驱动离子聚合物-金属复合材料（IPMC）人工肌肉，用于产生复杂的变形。IPMC上的表面电极图案是使用简单的表面加工工艺创建的。通过选择性地激活IPMC的特定区域，可以实现弯曲、扭曲、拍打和其他生物激励的运动行为。例如，对一个50 mm、25 mm、0.5 mm图案IPMC作动器的弯曲和扭转响应进行了表征，以确定其运动范围、输出力和扭矩，以及作为鱼鳍状推进器的有效性。实验结果表明，扭转角度超过8度；在0.05 Hz驱动下，阻断尖端力和扭矩分别高达16.5 mN （3 V）和0.83 N.mm (4 V)；平均推力约为0.4 mN（由4v正弦输入驱动，频率为1hz）。这些新开发的IPMC鳍可以用来为下一代水下机器人车辆创造新颖高效的推进器。提出了一个例子仿生机器鱼，它利用了ipmc的推进和机动能力，其中平均最大游泳速度约为28毫米/秒。
Emerging bioinspired underwater systems, such as autonomous ocean mapping and surveillance vehicles, that maneuver through their environment by mimicking the swimming motion of aquatic animals, can benefit from soft monolithic actuators and control surfaces capable of undergoing complex deformations. Herein, an electrically driven ionic polymer-metal composite (IPMC) artificial muscle with uniquely patterned electrodes for creating complex deformations is presented. The surface electrode pattern on the IPMC is created using a simple surface machining process. By selectively activating specific regions of the IPMC, bending, twisting, flapping, and other bioinspired locomotive behavior can be achieved. For instance, the bending and twisting response of an example 50 mm 25 mm 0.5 mm patterned IPMC actuator is characterized to determine its range of motion, output force and torque, as well as its effectiveness as a fish-fin-like propulsor. The experimental results show that the twisting angle exceeds 8 degrees; the blocking tip force and torque can be as high as 16.5 mN (at 3 V) and 0.83 N.mm (at 4 V), respectively (driven at 0.05 Hz); and an average thrust force of approximately 0.4 mN (driven by 4-V sinusoidal input at 1 Hz) can be generated. These newly developed IPMC fins can be exploited to create novel and efficient propulsors for next-generation underwater robotic vehicles. An example bioinspired robotic fish is presented which exploits the capabilities of the patterned IPMCs for propulsion and maneuvering, where an average maximum swimming speed of approximately 28 mm/s is reported.