Research Of Bionic Micro-robot Fish Based On IPMC Actuator And The Steering Gear Actuator

In the earth, the sea accounts for70%of the total area, with increasing demand for natural resources and increasing depletion of land resources, people will inevitably turned their attention to great value of Marine resources. For the exploitation of Marine resources, all kinds of underwater robots will be developed rapidly. And depending on the coordination swing of the body and the fins in the water swimming,the fish show high efficiency, low energy consumption, low noise and high maneuverability which any other man-made water and underwater vehicles with the screw propeller for providing the power can’t compare with. So the research of the bionic robotic fish will have a promising application prospect.At present, most of the robotic fish still use motor for driving. This machine has the advantages in driving force and control technology, but also has its weakness in efficiency, energy consumption and maneuverability. The researchers have been constantly seeking new inspiration direction, so with the progress of science and technology, a group of biomimetic robot fish based on the intelligent materials constantly come out. And compared to the traditional motor driver, the robotic fish based on the smart intelligent material driver has the features of non-pollution, non-noise, low driving, low energy consumption and so on.IPMC (Ion-exchange polymer metal composites) as a kind of new intelligent materials, its outstanding responding character and low driving voltage and hydrophilic, make it very suitable for the research of bionic swimming robots. In this paper, we design a hybrid driver micro-robotic fish based on IPMC actuator and the steering gear actuator. And we improved the genetic algorithm, use the improved genetic algorithm for path planning and plan out an optimal path for the micro-robot. Using PROTEUS to conducting the simulation analysis of control system of the miniature bionic robotic fish and verify the correctness of the driving circuit. Then establish dynamics model for the steering gear driver module and the IPMC driver module, and conduct simulation analysis for the course of the driver respectively. At the end of this paper, we established the experimental platform to test the driving performance and the propulsion performance of the micro-robot fish. From the experiments and analysis, we can see that the design of the driver system is reasonable and feasible.