Fish Robot: Design and control of an IPMC-based underwater robot

Abstract

This report presents a project on Fish Robot: Design and Control of an Ionic Polymer Metallic Components (IPMC) – based Underwater Robot. Nowadays, there are many significant efforts have been done in order to develop an aquatic robot such fish robot. Most of the fish robots are using motor which are heavy and noise. Therefore, the objectives of this project are to study and design of the IPMC, to design the motion of IPMC and to develop and test the IPMC – based fish robot. Electroactive Polymers, EAPs or knowns as an artificial muscle that flexible and can produce significant bending deformations. There two mains types of EAPs; ionic EAPs and dielectric EAPs. For dielectric polymers, it can control well but need high activation voltage. In contrast to ionic EAPs, there are involving of diffusion ions and also consist of two electrodes and one electrolyte. The best example is Ionic Polymer Metallic Components (IPMC). It can activate with 5V and can generally bending the displacement. When a small voltage applied, Ionic Polymer Metallic Components (IPMC) undergoes to the anode side. Most of the fish robot projects were motivated by the fish fin as the fins plays an important role for fish to swimming in the water. In this project, Ionic Polymer Metallic Components (IPMC) will plays as caudal tail.