Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite

Vladislav Kopman; Matteo Aureli; Maurizio Porfiri

doi:10.1115/DSCC2009-2660

Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite

Vladislav Kopman, Matteo Aureli, Maurizio Porfiri

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	477-484
Number of pages	8
Edition	PART A
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2660
State	Published - 2010
Event	2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States Duration: Oct 12 2009 → Oct 14 2009

Publication series

Name	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Number	PART A

Other

Other	2009 ASME Dynamic Systems and Control Conference, DSCC2009
Country/Territory	United States
City	Hollywood, CA
Period	10/12/09 → 10/14/09

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1115/DSCC2009-2660

Cite this

Kopman, V., Aureli, M., & Porfiri, M. (2010). Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART A ed., pp. 477-484). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2009-2660

Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite. / Kopman, Vladislav; Aureli, Matteo; Porfiri, Maurizio.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A. ed. American Society of Mechanical Engineers (ASME), 2010. p. 477-484 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kopman, V, Aureli, M & Porfiri, M 2010, Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A edn, Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, no. PART A, American Society of Mechanical Engineers (ASME), pp. 477-484, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 10/12/09. https://doi.org/10.1115/DSCC2009-2660

Kopman V, Aureli M, Porfiri M. Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A ed. American Society of Mechanical Engineers (ASME). 2010. p. 477-484. (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; PART A). doi: 10.1115/DSCC2009-2660

Kopman, Vladislav ; Aureli, Matteo ; Porfiri, Maurizio. / Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite. Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A. ed. American Society of Mechanical Engineers (ASME), 2010. pp. 477-484 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; PART A).

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abstract = "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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Free-locomotion of a fish-like robotic swimmer propelled by a vibrating ionic polymer metal composite

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