Motion Control of Capsule-like Underwater Robot Utilizing the Swing Properties of Ionic Polymer Metal Composite Actuators
作者机构：Key Laboratory of Bionic Functional Materials of Jiangsu ProvinceNanjing University of Aeronautics and AstronauticsNanjing 210016China College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China Science and Technology on Electro-optic Control LaboratoryLuoyang 471000China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2020年第17卷第2期
页 面：281-289页
核心收录：
学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0836[工学-生物工程] 0702[理学-物理学]
基 金：This work was supported by the National Natural Science Foundation of China(Nos.U 1637101 and 51605220) Key Laboratory of Photoelectric Control Technology and Aviation Science Foundation(No.20175152037) Shanghai Key Laboratory of Spacecraft Mechanism,and the Foundation of Jiangsu Provincial Key Laboratory of Bionic Functional Materials(No.NJ2019015).
主 题：underwater robot open-loop control IPMC swing property displacement response
摘 要：Ionic Polymer Metal Composite(IPMC)is a novel electrically actuated intelligent material with the advantages of big bending displacement,low driving voltage,flexible and so on.It has been recognized as one of the most attractive actuators with prospective applications for underwater robots and bionic organs.In this work,a capsule-like robot was introduced with the pectoral and caudal fins made of IPMC.By analyzing the properties of displacement response to square waves with different frequencies and low level voltages,it was found that performance of IPMC are frequency sensitive.Besides,when the absolute value of low level voltage decreases,IPMC could swing on one side with the decrease in amplitudes,whereas the amplitude at high level voltage fluctuates within small ranges at low frequencies.IPMC tip can approximately maintain when the frequency of driving signal around 30 Hz.Such properties were employed to control the locomotion of robot combining the motions of pectoral and caudal fin.Thus,the locomotions of swimming forward,turning and positioning were realized.
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