Design And Fabrication Of Robotic Fish Based On IPMC Actuator

As a kind of new intelligent material, IPMC is a kind of Ionic polymer-metal composites,composed of a ion exchange resin membrane to the both sides of which a metal electrode layer isattached. When applied low voltage on its surface electrodes, IPMC will produce a large deformation,and certain output force.In the view of the characteristics mentioned above, a robotic fish driven by IPMC is designedand manufactured. Compared with the traditional motor driver, it has the following advantages: lowenergy consumption, no noise, simple structure and small size. The main contains are as follows.1. A basement membrane is obtained by evaporating solvents out of the Nafion solution, andIPMC is fabricated when Pt-metal particles are attached to the Nafion membrane byelectroless plating.2. By analyzing the morphological character and propulsion mode of fish, the structure of tail finand pectoral fins are designed. The tail fin can swing back and force, while the pectoral fin has twodegrees of freedom, and it can rotate around an axle as well as swing bi-directionally. Then, accordingto the structure, four swimming patterns are designed that contain Cruise-straight, turn left and rightor abrupt stop, as well as ascent and descent.3. Based on the principles of hydrodynamics, it analyzed the propulsive force generated for fourswimming patterns.4. A control system is designed for the robotic fish, it can produce seven analog signalsindependently of each other, which is powered by7.4volts Lithium polymer battery. The outputvoltage value is form-5volts to+5volts, and the highest output current is400mA. In addition, thecontrol system also contain infrared transmitter and infrared receiver, which realize the functions ofinfrared remote control and autonomous obstacle avoidance.