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Proceedings Paper

Modeling dynamics of underwater vehicles actuated by ionic polymer metal composite (IPMC) actuators
Author(s): Shivakanth Gutta; WooSoon Yim; Mohamed B. Trabia
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Paper Abstract

In this paper, a finite element-based dynamic model is developed for a miniature underwater vehicle propelled by Ionic Polymer Metal Composite (IPMC) actuator. The proposed approach describes the electro-mechanical actuation using a large deflection beam model. Hydrodynamic forces including frictional effects are also considered. The hydrodynamic force coefficients are identified based on the results of extensive computational fluid dynamics (CFD) simulations. Experimental results have shown that the proposed model predicts the motion of the vehicle accurately for different actuation signals. The proposed model can lead to the development of an underwater vehicle, which can achieve complex set of maneuvers. It can also contribute to developing both open and closed-loop control algorithms for the robotic vehicles.

Paper Details

Date Published: 6 April 2009
PDF: 18 pages
Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 728716 (6 April 2009); doi: 10.1117/12.815399
Show Author Affiliations
Shivakanth Gutta, Univ. of Nevada, Las Vegas (United States)
WooSoon Yim, Univ. of Nevada, Las Vegas (United States)
Mohamed B. Trabia, Univ. of Nevada, Las Vegas (United States)

Published in SPIE Proceedings Vol. 7287:
Electroactive Polymer Actuators and Devices (EAPAD) 2009
Yoseph Bar-Cohen; Thomas Wallmersperger, Editor(s)

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