Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s(-1) and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of similar to 0.7% in water across a frequency range of 0.1-1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s(-1) and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s(-1) with a power consumption of 1.14 W.