In this paper characteristics of a polyelectrolyte ion exchange membrane-metal composite artificial muscle applied to a swimming robotic structure was investigated and preliminary experimental results verified their close behavior to those of biological and machine propulsion systems. It was found that the speed of propulsion in undulating IEM was indeed proportional to frequency and amplitude of undulation. The proportionality constant was approximately 0.1719. The calculated proportionality constant between propulsion speed and the product of undulation frequency and amplitude, K for this experimental robotic swimmer using a rectangular strip of polyelectrolyte ion-exchange-metal-composite membrane was 0.086 in which established a relationship between speed, amplitude, and frequency. For other cases, this relationship can be used as a preliminary measure of sizing larger actuators for greater speeds and heavier swimming objects. Attempts are underway in the laboratory to extend the above concept to more complex forms of swimming structures such as jelly fishes and eels. For the proposed jelly fish swimming simulation, the ion-exchange membrane platinum composite shall be in circular plate configuration in which the electrodes shall be attached to the center of the circular plates. For the case of eel swimming simulation, long strips of the membrane composite shall be cut and attached to small bodies with much larger slenderness ratios.


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    Title :

    Noiseless propulsion for swimming robotic structures using polyelectrolyte ion-exchange membrane


    Additional title:

    Geräuschloser Vortrieb für schwimmende Strukturen aus dem Roboteranwendungsbereich mit Hilfe einer polyelektrolytischen Ionenaustausch-Membran


    Contributors:


    Publication date :

    1996


    Size :

    10 Seiten, 6 Bilder, 23 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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