Biomedical Engineering Reference
In-Depth Information
FIGURE 9.3
The fabricated IPMNC in a square rod form.
FIGURE 9.4
The undulating and morphing actuator made with an IPMNC.
muscle assembly
E
. Structure
G
as shown comprises a sealed housing module
H
containing a means for generating a signal and a means for generating power
.
The tail assembly consists of electrically actuated artificial muscles such as
IPMNCs cut in tiny fibers or strips. The tail is then encapsulated in an elastic
membrane. The ends of fibers closer to the head assembly
J
are wired to a miniature
printed circuit board (PCB) or similar assembly to a signal generator assembly
consisting of an oscillator circuit and batteries or other power source. The head
assembly is preferably sealed to protect the circuitry and electronics from the ele-
ments. By varying the frequency of the applied voltage to the membrane muscle,
the speed of muscle-bending oscillation of muscle assembly
H
E
and, therefore, pro-
pulsion of the swimming structure can be modulated.
In this manner, robotic swimming fishes and submarine structures containing a
sealed signal and power-generating module (preferably in the head assembly) can
be made to swim at various depths by varying the buoyancy of the structure by
conventional means. Remote commands via radio signals can then be sent to mod-
ulate propulsion speed and buoyancy. Based on such dynamic deformation design
and observed characteristics, a noiseless swimming robotic structure, as shown in
figure 9.5, was constructed and also tested for collective vibrational dynamics.
