Abstract
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.
Original language | English (US) |
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Article number | 5272397 |
Pages (from-to) | 603-614 |
Number of pages | 12 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 15 |
Issue number | 4 |
DOIs | |
State | Published - Aug 2010 |
Keywords
- Force measurement
- hydrodynamics
- intelligent actuators
- underwater vehicle propulsion
- underwater vehicles
- vibrations
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering