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

Abstract

IPMC is used as artificial muscle in bioinspired micro structures/devices due to its low voltage actuation, high bending deformation, rapid response and capability to be operated in aqueous environment. In this paper, deflection analysis of IPMC actuated fin of a micro fish like device is presented to find out angle of attacks generated by IPMC deflection under different voltages applied to it. A novel approach is presented to perform motion analysis of IPMC actuated mechanisms for biomimetic robots under true actuation presentation of the IPMC actuator. This paper also contributes to present velocity and acceleration of the actuator at different voltages. Finally, two different configurations of the fin actuation mechanism are characterized in terms of angle of attack produced by them under same actuation responses of an IPMC actuator. Deflection analysis is performed in Pro/ Mechanism, an advanced simulation tool. A technique of virtual prototyping through simulations is applied to access the performance of both configurations of the fin actuation mechanism under true scenario before going into manufacturing.