Research On A Biomimetic Micro Robot Fish Actuated By Smart Merterial ICPF

A biomimetic micro robot fish as a type of biomimetic robot fish plays irreplaceable rolein robot fish. ICPF (Ionic Conducting Polymer Film) has the advantages of low actuationvoltage, high efficiency.It can swing like fish tail under alternating voltage actuation, so it issuitable to be tail fin of micro robot fish. ICPF is light in weight and simple in structure. It iseasy to miniature too. A micro biomimetic robot fish actuated by ICPF can work at3Vvoltage, which is in size, light in weight and is difficult to detecte. This is incomparable toother non-motor actuators. Micro robot fish actuated by ICPF has important applications inthe field of military and civilian for example longterm underwater latent work. The microrobot fish can be used in ships, boats and nuclear power stations and other equipment with asmall pipe dredging. It can also be used for medical treatment, such as the gut, screening,treatment of vascular disease. Mechanical properties, electirc properties and modeling ofICPF as actuator of biomimetic fish are not perfect, so it is necessary to study it deeply.The purpose of this paper is to study a micro robot fish actuated by ICPF. Because of itsunique mechanical and electronic transfer characteristics, ICPF can be used as both actuatorsand sensors, so it is usually called smart materials. ICPF is taken as the material of microrobot fish actuator after deeply analyzing the properties of it. On the basis of analyzing themotion characteristics of small fish and the force acting on small fish, we designed a threedimensional swimming automaus biomimetic micro robot fish actuated by the ICPF. Themicro robot fish in the water can carry out cruising straight, turn, ascent, descent, burst andmany other moments. ICPF act as the tail fin and the pectoral fin actuator in the micro robotfish. This dissertation mainly includes two parts: the first part is to study the properties ofICPF and to establish a real time control-oriented actuation model for ICPF, and the secondpart is about the ICPF actuated biomimetic micro robot fish.Firstly, ICPF actuting properties and sensing properties are studied deeply. ICPFactuation properties include: electrical properties, mechanical to electrical properties andmechanical properties. Especially, experiment study focus on the relationship between ICPFactuation voltage and output force, the relationship between voltage and output displacement,the relationship between actuation voltage and output curvature. Especially the relationshipbetween the actuation voltage and the output curvature is the method of solving the problemof inaccuracy measuring the large deformation of ICPF by the laser sensor. We draw thediagram of these relationships to analysis the properties of ICPF. We studied the ICPF sensing characteristics too, obtained relationship between ICPF viberating speed and themaximum output voltage through experiments, and the relationship between ICPF viberatingof maximum displacement and output voltage.Base on experiments and properties study of the ICPF, this dissertation presents areal-time control-oriented actuation model for ICPF, which describe the relationship betweeninput voltage and output bending moment and curvature. Then ICPF control system isdesigned according to the actuation model. Compared with other ICPF model, this model hasmany advantages such as short structure, easy calculation, real-time and can be applied to fishfin control because it is intended to the application of micro robot fish without the pursuit ofcompleted physical explanation.Secondly, based on the analysis of ICPF properties and control model, a kind of microrobot fish is studied, the contents is as followd:The fish moment track parameters are obtaind after exploring the biological basis of asmall fish, analysing the movement and force condition of small fish, sxtracting the skeletonof fish image, combining the lease squares method and the slender body theory of Lighthill,According to the properties and model of ICPF and analysis of the movement of fish andforce acting on the small fish, a micro robot fish is designed which can move in threedimention in water aotonomously. The performance of the mciro robot fish is verified througha series of experiment.At the end, the propulsion model of the micro robot fish about the relationship betweenthe control signal and swimming speed are studied. To improve swimming speed andefficiency of the micro robot fish, a method of applying multiple segments of ICPF actuator tofit the tail trajectory and a new stucture of fin stick tail are applied.