Modeling and system identification of three-layer structure electrostatic film motors for a robotic fish

Zhang, Zu Guang; Yamashita, Norio; Yamamoto, Akio; Gondo, M.; Higuchi, Toshiro

doi:10.1109/icma.2009.5244932

Cited by 5 publications

(3 citation statements)

References 6 publications

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“…They modeled robotic fish based on "vortex shedding". Zhang 22 proposed a modeling algorithm for three-layer structure motors for robotic fish. Low and Willy 19 proposed a modeling method based on simplifying two adjacent fin-rays as 2-degree-of-freedom (DOF) mechanisms.…”

Section: Related Workmentioning

confidence: 99%

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Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins

et al. 2011

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A biomimetic underwater vehicle, which is propelled by two undulating long-fins, is introduced in this paper. The undulating or oscillating movements of symmetrical long-fins cause the complex locomotion of biomimetic underwater vehicle. For convenience, three motion modes are proposed and considered firstly. Then an inertial unit is installed for collection of accelerations and angular velocity. The underwater vehicle's MIMO model is reduced into a SISO model by some simplifications. A sine wave function deduced from the long-fin's time-varying membrane is proposed and used as the input of the biomimetic underwater vehicle ARMA model, and velocity or angular velocity is considered as the model output. The algorithms based on recursive weighted least squares are applied for model parameter identification. Experiments carried out with a long-fin propelled underwater vehicle. The experimental results show that the proposed methods can build valid locomotion models for three motion modes efficiently.

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Section: Related Workmentioning

confidence: 99%

“…Cheng et al 21 proposed a modeling algorithm by merging elongated body theory and hybrid tail dynamics. Zhang 22 proposed a modeling algorithm for three-layer structure motors for robotic fish. Transeth et al 23 given a summary on modeling method of snake-like robot.…”

Section: At Northwesternmentioning

confidence: 99%

Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins

et al. 2011

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“…In order to generate an electrostatic field, multiple pairs of metal electrodes are required and complex voltage regulation is applied, which limits the portability of the electrostatic motors [12][13][14]. In addition, the need for a high-frequency power supply is also significantly disadvantageous for existing electrostatic motors [15][16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

An electrostatic micromotor based on electrets

Chen

Zhang

Fan

et al. 2023

IET Nanodielectrics

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The authors report a novel electret‐based miniature electrostatic motor with an electret film as the stator and a metal electrode as the rotor. A particular commutator is used to transform the polarity of the metal electrode. When the size of the electret‐based electrostatic motor (EEM) is 42 × 44 × 15 mm3, the maximum power consumption is only 5.4 mW. The rotation speed of the EEM increases with the increase of the supply voltage, and the maximum rotation speed can reach up to 2864 rpm. Powered by two nickel‐hydride batteries with a rated capacity of 1700 mAh, the EEM can drive a fan with a diameter of 40 mm to rotate continuously for 18 h. The EEM has the characteristics of low power consumption and convenient fabrication. Experimental results show that the EEM demonstrates high reliability and has potential applications in micro‐electromechanical systems.

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Modeling and Optimization of Electrostatic Film Actuators Based on the Method of Moments

et al. 2021

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Modeling and system identification of three-layer structure electrostatic film motors for a robotic fish

Cited by 5 publications

References 6 publications

Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins

Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins

An electrostatic micromotor based on electrets

Modeling and Optimization of Electrostatic Film Actuators Based on the Method of Moments

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