Fluid Dynamic Analysis of an ICPF Actuated Fish-like Underwater Microrobot with 3 DOF

Abstract

As the development of biological sciences, many microrobots are designed for biomimetic locomotion in liquid environments with biomimetic actuators, such as ICPF (ionic conducting polymer films). In this paper, we demonstrate a ICPF actuated biomimetic fish-like underwater microrobot that can be remote controlled and the microrobot is consists of AVR minimum-control unit, communication system, fin, and buoyancy device. we want to give the Fluid Dynamic Analysis of an ICPF Actuated Fish-like Underwater Microrobot with 3 DOF, show the fluid dynamic analysis of the 3 DOF movement of fish-like microrobot and propose the motion control method. We use ANSYS to give the important analysis about the speed and stress, and accordingly prove the efficient structure of the fish fin. then revise the structure according to the experimental result of the fish-like microrobot swimming in the water.