Aquatic Robotic Propulsor Using Ionic Polymer-Metal Composite Artificial Muscle
Document Type
Conference Proceeding
Publication Date
9-28-2004
Publication Title
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers
Volume
2
First page number:
1269
Last page number:
1274
Abstract
In this investigation, ionic polymer metal composites (IPMC) are considered for use as a means of aquatic propulsion. A simple propulsor is constructed to show capabilities of using an IPMC actuator. The thrust produced by the propulsor was recorded and reported showing suitable thrust for small applications. IPMC were then compared with competing electro-active polymers in a theoretical propulsor study showing that IPMC are quite competitive with similar actuator materials. An equivalent circuit to model the force behavior of an IPMC can be used to explain force behavior for various geometric configurations of IPMC leading the way for design and use of IPMC aquatic propulsors.
Keywords
Actuators; Composite materials; Intelligent actuators; Marine systems; Metal-filled plastics; Mobile robots; Polymers propulsion; Remote submersibles; Underwater propulsion
Disciplines
Engineering | Materials Science and Engineering | Mechanical Engineering | Robotics
Language
English
Permissions
Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.
Repository Citation
Paquette, J. W.,
Kim, K. J.,
Yim, W.
(2004).
Aquatic Robotic Propulsor Using Ionic Polymer-Metal Composite Artificial Muscle.
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2
1269-1274.
Institute of Electrical and Electronics Engineers.