Ionic Polymer Metal Composite (IPMC) is a novel electrically actuated intelligent material with the advantages of big bending displacement, low driving voltage, flexible and so on. It has been recognized as one of the most attractive actuators with prospective applications for underwater robots and bionic organs. In this work, a capsule-like robot was introduced with the pectoral and caudal fins made of IPMC. By analyzing the properties of displacement response to square waves with different frequencies and low level voltages, it was found that performance of IPMC are frequency sensitive. Besides, when the absolute value of low level voltage decreases, IPMC could swing on one side with the decrease in amplitudes, whereas the amplitude at high level voltage fluctuates within small ranges at low frequencies. IPMC tip can approximately maintain when the frequency of driving signal around 30 Hz. Such properties were employed to control the locomotion of robot combining the motions of pectoral and caudal fin. Thus, the locomotions of swimming forward, turning and positioning were realized.

中文翻译：

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利用离子聚合物金属复合驱动器的摆动特性的胶囊型水下机器人运动控制

离子聚合物金属复合材料（IPMC）是一种新型的电动智能材料，具有弯曲位移大，驱动电压低，柔性好等优点。它被公认为是最诱人的执行器之一，可用于水下机器人和仿生器官。在这项工作中，引入了一个类似胶囊的机器人，该机器人带有由IPMC制成的胸鳍和尾鳍。通过分析不同频率和低电平电压对方波的位移响应特性，发现IPMC的性能对频率敏感。此外，当低电平电压的绝对值减小时，IPMC会随着幅度的减小而在一侧摆动，而在低频时，高电平电压的幅度会在较小的范围内波动。当驱动信号的频率在30 Hz附近时，IPMC尖端可以大致维持。这些属性被用来控制机器人的运动，结合了胸鳍和尾鳍的运动。因此，实现了向前游泳，转弯和定位的运动。