Dynamic Analysis of IPMC Actuated Fin of a Micro Fish Like Device

In this paper, a methodology is presented to perform dynamic analysis of structural linked mechanisms under true actuation cycle and force response of applied IPMC actuators. Dynamic analysis of a three link mechanism for fin actuation of a micro fish like device, towed by a surface vessel through tow cable, is performed through this methodology and same is applicable to other biomimetic robotic applications. Fluid (water) exerts a torque on IPMC actuated fin which is a function of fin's deflection and fluid flow velocity. Dynamic analysis is performed to assess the performance and efficacy of fin actuation mechanism under different loading conditions in terms of fin's deflection, velocity and acceleration. Actuation force is increased by increasing number of applied IPMC actuators of known actuation cycle and force generation response. Applied torque is determined by performing a numerical simulation of IPMC actuated fin against different flow velocities through two-way fluid structure interaction (FSI) approach. Numerical simulation is performed in ANSYS WORKBENCH to capture the complex hydrodynamic interactions between fin and fluid. Effect of increased actuation force against constant flow velocity (towing speed) and of increased flow velocity against constant actuation force are evaluated in terms of fin's deflection, velocity and acceleration. Finally, consequence of increasing the length of the link, connecting IPMC actuators and fin, are appraised for same actuation force and applied torque. Dynamic analysis is performed in Pro/ Mechanism, an advanced simulation tool. A technique of virtual prototyping through simulations is applied to access the performance of the fin actuation mechanism under true loading scenario before going into experimental phase, saving cost and time