Biomimetic Stingray-like Robotic Fish with Propulsors Based on IPMC Actuators

Karelin, Alexandr M.; Orekhov, Yuriy D.; Khmelnitskiy, Ivan K.; Aivazyan, Vagarshak M.; Testov, Dmitriy O.

doi:10.1109/elconrus51938.2021.9396483

Cited by 2 publications

(1 citation statement)

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“…Furthermore, we must take into consideration that the advantage of biomimetic centimeter-scale autonomous robotic fish is not the high speed but the maneuverability, agility, and accurate location in a limited area (Ye et al, 2008). Among these actuators, ionic polymer-metal composites (IPMC) artificial muscles are a particularly promising class of actuator materials for robotic fishes (Annabestani and Naghavi, 2014; Annabestani et al, 2016a; Annabestani and Naghavi, 2015; Annabestani et al, 2016b, 2018; Guo et al, 2005; Gupta and Mukherjee, 2021; Karelin et al, 2021; Liu et al, 2009; Tan et al, 2006; Ye et al, 2006, 2007; Yi et al, 2021; Zamyad and Naghavi, 2018; Zamyad et al, 2018). IPMCs with naturally low-density and outstanding flexibility have impressive features such as suitable response time, high bending motion, low operating voltages (<5 V), and absolutely adaptation in an aqueous environment.…”

Section: Introductionmentioning

confidence: 99%

Design and test of wirelessly powered IPMC artificial muscle for aquatic ecosystem health applications

Safari

Naghavi

Malayjerdi

et al. 2022

Journal of Intelligent Material Systems and Structures

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Aquatic environments and water resources face a variety of risks from numerous sources of pollution. In this paper, we propose a preliminary mechanism for realizing robotic technology practically and cost-effectively for monitoring these pollutions. The presented system is a small robotic fish propelled by a beam of ionic polymer-metal composite (IPMC) artificial muscle that imitates the motion of a small Scorpis Georgiana fish. One of the superiorities of the proposed model is the IPMC actuation mechanism powered by a battery that is charged wirelessly from a solar panel source. This approach enables us to produce a robotic fish that works ceaselessly without being forced to carry the solar panel load. Moreover, we present a method to control the flapping motion of a robotic fish by taking advantage of a tiny Wi-Fi module that yields more working range, bulky data sending, low power consumption, simple programing, and convenient communication for creating a network with other similar robots. All these beneficial characteristics make the proposed structure a promising candidate for detecting pollution on the surface of aquatic environments and sending/recording necessary data in collaboration with desirable sensors. Theoretical considerations support experimental results reported in the paper.

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