Biomimetic robotic propulsion using polymeric artificial muscles

Biomimetic fish-like propulsion using polyelectrolyte ion-exchange membrane metal composites as a propulsion fin for a robotic swimming structure, such as a boat swimming in water medium, was investigated. The membrane was chemically plated with platinum. The resulting membrane was cut in a strip to resemble fish-like caudal fin for propulsion. A small function generator circuit was designed and built to produce approximately /spl plusmn/2.0 V amplitude signal at desired frequency up to 50 Hz. The circuit board was mounted on a buoyant Styrofoam shaped like a boat or a tadpole. The fin was attached to the rear of the boat. By setting the signal frequency to the desired value and thereby setting the frequency of bending oscillation of the membrane, a proportional forward propulsion speed could be obtained. The speed was then measured using a high speed camera. Several theoretical hydrodynamic models were then presented to characterize speed-frequency of the forward motion using available theories on biological fish motion. The results were compared to experimental data which showed close agreement.