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Volume 40 Issue 12
Dec.  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(12): 1730-1735.
Shen Qi, Han Chenhao, Wang Tianmiao, et al. Experimental investigation of biomimetic robotic fish actuated by IPMC[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1730-1735. doi: 10.13700/j.bh.1001-5965.2013.0748(in Chinese)
Citation: Shen Qi, Han Chenhao, Wang Tianmiao, et al. Experimental investigation of biomimetic robotic fish actuated by IPMC[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1730-1735. doi: 10.13700/j.bh.1001-5965.2013.0748(in Chinese)
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Experimental investigation of biomimetic robotic fish actuated by IPMC

doi: 10.13700/j.bh.1001-5965.2013.0748

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 08 Jan 2014
  • Publish Date: 20 Dec 2014
    Abstract
  • The thrust efficiency of a biomimetic robotic fish was experimentally measured, which was propelled by an ionic polymer-metal composite (IPMC) actuator. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. A maximum thrust efficiency of 2.3×10-3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.025 3 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.

     

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