A fish robot prototype based on ionic polymer metallic composite

We present a fish robot prototype using wet Ionic Polymer Metallic Composite (IPMC). This prototype can be used underwater for different purposes, such as to monitor the underwater temperature or to explore underwater environment pollution. 3D printing technology was used to create the body of a fish robot, whereas the fins were made of wet IPMC. The wet IPMC produces an oscillating bending movement when an alternating current runs through it, resulting in the propulsion of a fish robot. Tests were first carried out to determine the mechanical properties of the wet IPMC, such as the bending displacement versus voltage and corresponding forces. An Arduino control board consisting of sensors, a data acquisition card and a GPS tracker was also integrated in the prototype. The design of the fish body considered packaging a battery pack, a microcontroller card and its corresponding circuit board in a water proof environment.