Ionic artificial muscle drive based small robot fish and moving method thereof

Abstract

The invention relates to an ionic artificial muscle drive based small robot fish and a moving method thereof and belongs to the technical field of intelligent material applications. A fish body of the robot fish is driven by a pectoral fin drive system and a tail fin drive system coordinately. The pectoral fin drive system comprises a U-shaped rack in the fish body and a left pectoral fin drive mechanism and a right pectoral fin drive mechanism. Each of the pectoral fin drive mechanisms comprises three ionic polymer metal composite (IPMC) material sheets, a rotation disc, a rotation shaft and a pectoral fin film, and vertical wing flapping and shaking can be achieved. The tail fin drive system comprises an electrode clamping units fixed at the tail, an IPMC material sheet and a tail fin, and one-way or two-way swinging of the fish body in the axial plane can be achieved. A control panel and a battery are disposed in the fish body, and moving modes such as linear cruising, speeding up / speeding down / sudden stopping, left and right / turning and floating / diving are achieved by setting appropriate drive signals.

Description

[0001] technical field [0002] The invention relates to a small robot fish co-driven by a tail fin and a pectoral fin based on an ion polymer metal composite material, and belongs to the application field of intelligent materials. Background technique [0003] Ionic polymer metal composite (IPMC) is an ionic electro-actuated polymer, also known as "artificial muscle", which is made of perfluorosulfonic acid ion exchange resin (such as Nafion membrane) Organic-inorganic composite materials obtained by depositing platinum, gold and other noble metal electrodes on the surface. IPMC can produce large deformation under low-voltage excitation, and its electro-actuated deformation mechanism comes from the electrophoretic phenomenon of cations. Under the action of an external electric field, cations in the film combine with water molecules to migrate to the cathode, resulting in a decrease in the water content of the anode. The water content of the cathode increases, causing defor...

AI Technical Summary

Problems solved by technology

[0008] To sum up, the current small-scale robotic fish driven by IPMC has a relatively simple driving method. For example, the robotic fish developed by Aureli et al., Tan et al., Hao Lina et al. are driven by the caudal fin, and the robotic fish developed by Ye Xiufen is driven by the combination of the caudal fin and the pectoral fin. The driving method of the pectoral fins is relatively simple, and the movement of the pectoral fins, such as flapping and flapping forward and backward, cannot be realized

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