Research On A Bionic Robot Fish With Joint Style Based On Intelligent Materials

With the increasing depletion of land resources, people will develop and utilizate marine resources on a large scale. In order to adapt to this demand, a variety of submersible vehicle and underwater robot will be developed rapidly.The microrobot based on smart materials has the features of non-pollution, non-noise, high concealment, low driving voltage, simple structure and so on compare to the traditional micro motors, so the micro robot has a promising development trend and application potential in the future.In this paper, we propose a novel prototype model of a bionic robot fish with joint style based on intelligent materials. One piece of Ionic conducting polymer Film (ICPF) is set on the tail of the bionic robot fish. And 2 pieces of shape memory alloy (SMA) materials are set in the body of the robot fish as the joint.We understand the properties of smart materials, research the motion mechanism of of ICPF and SMA materials. we discussed the structure and the motion mechanism. Based on the analysis of kinematics and optimization of structure parameters, the dynamic models which illustrate output force of SMA are built. In addition, we have done the exercise path planning and analysis of the two drivers, which can demonstrate the reasonableness of its size. According to the characteristic of movement of the microrobot, we designed a hardware driving module for SMA based on AVR microcontroller and ICPF driving module, and established the hardware platform of the entire propulsion system.At the end of this paper, we established the experimental platform to test the driving performance and the propulsion performance of the microtobot. From the experiments and analysis, we can see that the design of the microrobot is simple and reasonable.