Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 15, Issue 4, Pages 603-614Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2009.2030887
Keywords
Force measurement; hydrodynamics; intelligent actuators; underwater vehicle propulsion; underwater vehicles; vibrations
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Funding
- National Science Foundation [CMMI-0745753, DGE-0337668]
- National Aeronautics and Space Administration/New York Space Grant Consortium [48240-7887]
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [0745753] Funding Source: National Science Foundation
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In this paper, we develop a modeling framework for studying free-locomotion of biomimetic underwater vehicles propelled by vibrating ionic polymer metal composites (IPMCs). The motion of the vehicle body is described using rigid body dynamics in fluid environments. Hydrodynamic effects, such as added mass and damping, are included in the model to enable a thorough description of the vehicle's surge, sway, and yaw motions. The time-varying actions exerted by the vibrating IPMC on the vehicle body, including thrust, lift, and moment, are estimated by combining force and vibration measurements with reduced order modeling based on modal analysis. The model predictions are validated through experimental results on a miniature remotely controlled fish-like robotic swimmer.
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