TY - JOUR
T1 - Free-locomotion of underwater vehicles actuated by ionic polymer metal composites
AU - Aureli, Matteo
AU - Kopman, Vladislav
AU - Porfiri, Maurizio
N1 - Funding Information:
Manuscript received April 28, 2009; revised July 9, 2009; accepted August 12, 2009. Date of publication September 29, 2009; date of current version July 28, 2010. Recommended by Technical Editor J. Ueda. This work was supported in part by the National Science Foundation under Grant CMMI-0745753 and GK-12 Fellows Grant DGE-0337668 and in part by the National Aeronautics and Space Administration/New York Space Grant Consortium under Grant 48240-7887.
PY - 2010/8
Y1 - 2010/8
N2 - In this paper, we develop a modeling framework for studying free-locomotion of biomimetic underwater vehicles propelled by vibrating ionic polymer metal composites (IPMCs). The motion of the vehicle body is described using rigid body dynamics in fluid environments. 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 a miniature remotely controlled fish-like robotic swimmer.
AB - In this paper, we develop a modeling framework for studying free-locomotion of biomimetic underwater vehicles propelled by vibrating ionic polymer metal composites (IPMCs). The motion of the vehicle body is described using rigid body dynamics in fluid environments. 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 a miniature remotely controlled fish-like robotic swimmer.
KW - Force measurement
KW - hydrodynamics
KW - intelligent actuators
KW - underwater vehicle propulsion
KW - underwater vehicles
KW - vibrations
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U2 - 10.1109/TMECH.2009.2030887
DO - 10.1109/TMECH.2009.2030887
M3 - Article
AN - SCOPUS:77955231022
VL - 15
SP - 603
EP - 614
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 4
M1 - 5272397
ER -