Experimental validation of the speed model

Experiments have been conducted to validate the speed model. The pro-tot rpe in Fig. 9.1(a) was used in the experiments, and a snapshot of the robot in motion is shown in Fig. 9.4. The methods for model parameter identification can be found in Chen et al. (2010). Three tails with different dimensions, listed in Table 9.1, were used in the experiments. Refer to 

A square-wave voltage input of 3.3 V was applied to the IPMC at different frequencies. As shown in Fig. 9.5, the model was able to predict the speed of the robotic fish as a function of the actuation frequency, for all different tails. In particular, it correctly predicted the peak in each speed-frequency curve. At relatively low frequencies, the robot speed increases with the actuation frequency. As the frequency increases, the bending amplitude of the IPMC actuator decreases, which ultimately results in a decreased speed for the robot. Therefore, there is an optimal actuation frequency for producing the largest speed for the robotic fish. Prom Fig. 9.5, both the optimal frequency and the peak speed vary with the tail dimensions, which is well captured by the model. 

Energy source Power Advantages Disat vantages 

Ambient radio frequency 1 /LtW/cm Have to be close to transmitters 

Ambient lOOmW/cm (direct Good conversion Power output vary 

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