Dynamic modeling of biomimetic undulatory ribbon fin underwater propulsor actuated by IPMC

Abstract

Abstract In this paper, electro-mechanical dynamic modeling of a biomimetic propulsor based on undulating ribbon fin is proposed. Kinematics of the system is considered as the sinusoidal undulating motion of the ribbon fin which is guided by the actuating ionic polymer metal composite material. This is a smart material that actuates when an input voltage is applied and composed of a simple RC circuit. Elongated body theory is used to produce system dynamics considering the kinematics and also the hydrodynamic parameters like drag is undertaken as the application aspect is underwater environment. The proposed model has been used to evaluate the speed and thrust of the biomimetic system. Also, the thrust efficiency can be obtained for the different input frequencies. The proposed model may contribute to the understanding of an undulating ribbon fin inspired by IPMC for the underwater locomotion.