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Proceedings Paper

Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin
Author(s): Zheng Chen; Stephan Shatara; Xiaobo Tan
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Paper Abstract

In this paper, a model is proposed for a biomimetic robotic fish propelled by an ionic polymer metal composite (IPMC) actuator with a rigid passive fin at the end. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state speed of the robot under a periodic actuation voltage. Experimental results have shown that the proposed model can predict the fish motion for different tail dimensions. Since its parameters are expressed in terms of physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.

Paper Details

Date Published: 6 April 2009
PDF: 12 pages
Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 72871M (6 April 2009); doi: 10.1117/12.815789
Show Author Affiliations
Zheng Chen, Michigan State Univ. (United States)
Stephan Shatara, Michigan State Univ. (United States)
Xiaobo Tan, Michigan State Univ. (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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