In this paper, we study the free-locomotion of a miniature bio-mimetic underwater vehicle inspired by carangiform swimming fish. The vehicle is propelled by a vibrating Ionic Polymer Metal Composite (IPMC) attached to a compliant passive fin. The IPMC vibration is remotely controlled through the vehicle’s onboard electronics that consists of a small-sized battery pack, an H-Bridge circuit, and a wireless module. The planar motion of the vehicle body is described using rigid-body dynamics. Hydrodynamic effects, such as added mass and damping, are included in the model to enable a thorough description of the vehicle’s surge, sway, and yaw motions. The time-varying actions exerted by the vibrating IPMC on the vehicle body, including thrust, lift, and moment, are estimated by combining force and vibration measurements with reduced order modeling based on modal analysis. The model predictions are validated through experimental results on the planar motion of the fish-like robotic swimmer.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4892-0
PROCEEDINGS PAPER
Free-Locomotion of a Fish-Like Robotic Swimmer Propelled by a Vibrating Ionic Polymer Metal Composite Available to Purchase
Vladislav Kopman,
Vladislav Kopman
Polytechnic Institute of New York University, Brooklyn, NY
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Matteo Aureli,
Matteo Aureli
Polytechnic Institute of New York University, Brooklyn, NY
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Maurizio Porfiri
Maurizio Porfiri
Polytechnic Institute of New York University, Brooklyn, NY
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Vladislav Kopman
Polytechnic Institute of New York University, Brooklyn, NY
Matteo Aureli
Polytechnic Institute of New York University, Brooklyn, NY
Maurizio Porfiri
Polytechnic Institute of New York University, Brooklyn, NY
Paper No:
DSCC2009-2660, pp. 477-484; 8 pages
Published Online:
September 16, 2010
Citation
Kopman, V, Aureli, M, & Porfiri, M. "Free-Locomotion of a Fish-Like Robotic Swimmer Propelled by a Vibrating Ionic Polymer Metal Composite." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 477-484. ASME. https://doi.org/10.1115/DSCC2009-2660
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