Forward Kinematic Analysis of IPMC Actuated Three Link Mechanism for Fin Actuation of Fish Like Micro Device

Abstract

IPMC is becoming an increasingly popular material among scholars, engineers and scientists due to its inherent properties of low activation voltage, large bending strain, flexibility, softness, suitable response time which make them a strong candidate to be applied as artificial muscle in biomimetic land and underwater applications. The applications of IPMC have been growing due to progression in its manufacturing techniques, development of more accurate response models and control techniques, and recently more sophisticated IPMC actuator applications have been performed. In this paper, a new application of IPMC is proposed to actuate aileron fins of a micro scanning device towed underwater by a surface vessel to control its depth and to stabilize it against roll motion that can mimic pectoral fins of fish that steer them up and down by changing their angle of rotation and their dorsal fins that keep them upright against roll. Same is applicable for autonomous underwater vehicles. Secondly, a three link mechanism is presented to actuate aileron fin through IPMC actuator. Three dimensional model of the mechanism is developed in Pro-Engineer CAD software tool and its kinematic analysis is performed. Thirdly, forward kinematic model of proposed mechanism, based on geometric coordinate, is presented. Lastly, results of kinematic analysis of proposed mechanism are compared to that of model to verify its design and kinematics. Encouraging results decoy the research team to manufacture the mechanism and to perform experiments for its practical application.