A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.
A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.
复制标题
DOI：
10.1186/s40638-017-0081-3
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Chen Z
中科院分区：
文献类型：
--
作者：
Chen Z
一种新型的驱动材料，这是重量轻，柔软，并能够产生大的拍动电刺激下的运动，是非常可取的，以建立节能和可拆卸的仿生水下机器人。离子聚合物-金属复合材料是一类重要的电活性聚合物，因为它们可以在低驱动电压下产生大的弯曲运动。IPMC是小型和仿生机器人的理想人造肌肉。本文从建模、制造和仿生设计的角度，从系统的角度回顾了IPMC水下机器人的最新研究进展。首先，一个物理为基础的和面向控制的IPMC执行器模型将进行审查。其次，将提出一种由IPMC尾鳍推进的仿生机器鱼，并将演示鱼的稳态速度模型。第三，将介绍一种新的三维驱动膜的制造工艺，并将演示一种由两个IPMC胸鳍推进的仿生机器曼塔。第四，一个二维可折叠的机器鱼推进多IPMC鳍。最后总结了IPMC人工肌肉在仿生机器人中应用的优势和挑战。
A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer–metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives. First, a physics-based and control-oriented model of IPMC actuator will be reviewed. Second, a bio-inspired robotic fish propelled by IPMC caudal fin will be presented and a steady-state speed model of the fish will be demonstrated. Third, a novel fabrication process for 3D actuating membrane will be introduced and a bio-inspired robotic manta ray propelled by two IPMC pectoral fins will be demonstrated. Fourth, a 2D maneuverable robotic fish propelled by multiple IPMC fin will be presented. Last, advantages and challenges of using IPMC artificial muscles in bio-inspired robots will be concluded.