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Full-Text Articles in Ocean Engineering
Modeling And Control Of A Flexible Ionic Polymer Metal Composite(Ipmc) Actuator For Underwater Propulsion, Shivakanth Gutta
Modeling And Control Of A Flexible Ionic Polymer Metal Composite(Ipmc) Actuator For Underwater Propulsion, Shivakanth Gutta
UNLV Theses, Dissertations, Professional Papers, and Capstones
The goal of this research is to model and control the underwater vehicle propelled by IPMC actuator. IPMC consists of an ionic membrane sandwiched between two metallic electrodes. When an external voltage is applied, IPMC undergoes large deformation due to transport of ions. Due to its ability to work in aqueous environments, it can be used for developing small scale underwater vehicles.
First, Finite element approach is used to describe the dynamics of the both single and segmented IPMC actuator. In the approach presented, each element is attached with a local coordinate system that undergoes rigid body motion along with …