Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many applications.In this study,a robotic fish actuated by dielectric elastomer(DE)films is proposed.The tensile b...Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many applications.In this study,a robotic fish actuated by dielectric elastomer(DE)films is proposed.The tensile behaviours of DE film VHB4905 are studied,and the Ogden constitutive equation is employed to describe the stress‐strain behaviour of the DE film.The fabrication processes of the robotic fish,including prestretching treatment of the DE films,electrode coating with carbon paste,and waterproof treatment,are illustrated in detail.The dynamic response of the fabricated DE actuators under different excitation voltages is tested based on the experimental setup.Experimental results show that the first‐order natural frequencies of the obtained DE actuator in air is 4.05 Hz.Finally,the swimming performances of the proposed robotic fish at different driving levels are demonstrated,and it achieves an average swimming speed of 20.38 mm/s,with a driving voltage of 5kV at 0.8 Hz.展开更多
基金supported by the Zhejiang Provincial Natural Science Foundation of China(Nos.LGF21E050002&LY21F030003)Fundamental Research Funds for the Provincial Universities of Zhejiang(No.SJLY2021014)+2 种基金Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University(No.ICT2022B22)Projects in Science and Technique Plans of Ningbo City(No.2019B10100)General Scientific Research Project of Education Department of Zhejiang Province(No.Y201839158).
文摘Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many applications.In this study,a robotic fish actuated by dielectric elastomer(DE)films is proposed.The tensile behaviours of DE film VHB4905 are studied,and the Ogden constitutive equation is employed to describe the stress‐strain behaviour of the DE film.The fabrication processes of the robotic fish,including prestretching treatment of the DE films,electrode coating with carbon paste,and waterproof treatment,are illustrated in detail.The dynamic response of the fabricated DE actuators under different excitation voltages is tested based on the experimental setup.Experimental results show that the first‐order natural frequencies of the obtained DE actuator in air is 4.05 Hz.Finally,the swimming performances of the proposed robotic fish at different driving levels are demonstrated,and it achieves an average swimming speed of 20.38 mm/s,with a driving voltage of 5kV at 0.8 Hz.
