Fish-like underwater microrobot with 3 DOF (original) (raw)

Fabrication and Characterization of IPMC Actuator for Underwater Micro Robot Propulsor

Applied Mechanics and Materials, 2014

The usage of Ionic Polymer-Metal Composite (IPMC) actuator as the propulsor for underwater robot has been worked out by many scientists and researchers. IPMC actuator had been selected due to its advantages such as low energy consumption, low operation noise and ability to work underwater. This paper presents the fabrication and characterization of the IPMC actuator. The IPMC actuator samples had been fabricated using electroless plating for three different thickness and lengths. The characterization was conducted to determine the influence of the thickness, length, input frequency, drive voltage and orientation angle on the tip force and output frequency. The results show that IPMC thickness has significant influence on the tip force generation and lower input frequency would results wider displacement. The recorded results are essential as future reference in developing the propulsor for the underwater robot.

Conceptual Design of a Novel Biomimetic Underwater Robot

2020

By defining the limits and the design specification, that an underwater robotic vehicle should fulfill in order to be characterized as biomimetic, a shell structure with a modular locomotion mechanism is proposed, using THUNDER piezoelectric, for a novel biomimetic underwater robot. Smart materials and especially piezoelectric actuators are an excellent alternative as a propulsion mechanism for our underwater swimming fish-like robot (SRFL swimming robot with fish-like locomotion), due to their unique characteristics. This paper presents the design characteristics, the restrictions in dimensions and weight of the underwater robot and the ability of it, for maneuverability. Furthermore, the articulated locomotion mechanism of the caudal fin is designed and analyzed, while the distribution of the pressure forces on the shell, as well as in the articulated mechanism of the tail fin is also determined. Finally, the articulated mechanism is represented in MATLAB/SIMSCAPE in order to sim...