Force Analysis of IPMC Actuated Fin and Wing Assembly of a Micro Scanning Device through Two-Way Fluid Structure Interaction Approach

Abstract:

In this paper, a methodology is presented to perform force analysis of wing and fin assembly of a micro fish like device through strongly coupled two-way fluid structure interaction approach. The scanning device operates underwater and is towed by a surface vessel through a tow cable. Device fins are actuated by ionic polymer metal composite (IPMC) actuators, an EAP actuator. Fins act as riser, depressor and stabiliser against roll motion of the device. During tow, wing and fin assembly of the device come under hydrodynamic forces. These forces are influenced by fin displacement under IPMC actuation and wing's angle of attack for same towing conditions. To fully investigate wing and fin assembly performance, we must consider the interaction between their structure and fluid (water) and model the coupling mechanism accurately for fluid structure interaction (FSI) analysis. To obtain an accurate prediction to the hydrodynamic forces on wing and fin assembly of the device, it is necessary to conduct dynamic analysis of the surrounding fluid by computational fluid dynamics (CFD). A numerical simulation of three dimensional model of the assembly is performed in ANSYS WORKBENCH by coupling transient structural and Fluid Flow (CFX) analysis systems. The objectives of this study are as follows: 1) To build an accurate three-dimensional CFD model of the wing and IPMC actuated fin 2) To quantify the lift and drag forces acting on the wing and their corresponding coefficients 3) To demonstrate the influence of wing's angle of attack and fin displacement on generation of lift and drag forces. The presented methodology is also applicable to self-propelled micro robots.

• Periodical: International Journal of Engineering Research in Africa (Volume 21)
• Pages: 19-32
• DOI: https://doi.org/10.4028/www.scientific.net/JERA.21.19
• Online since: December 2015
• Authors: Mazhar Ul Haq*, Zhao Gang, Zhuang Zhi Sun, S.M. Aftab
• Keywords: Computational Fluid Dynamics, Computational Structural Dynamics, Fluid Structure Interaction, Ionic Polymer Metal Composite, Numerical Simulation

References

[1] M. S. Triantafyllou, and G. S. Triantafyllou, An efficient swimming machine, Scientific American, 272(3), pp.64-70 , (1995).

DOI: 10.1038/scientificamerican0395-64

[2] D. S. Barrett, M. S. Triantafyllou, D. K. P. Yue, et al, Drag reduction in fish-like locomotion, J. Fluid Mech, vol. 392, pp.183-212, (1999).

DOI: 10.1017/s0022112099005455

[3] K. McIsaac, J. Ostrowski, A Geometric Approach to Anguilliform Locomotion: Modelling of an Underwater Eel Robot, Proceedings of the 1999 IEEE Conference of Robotics and Automation (ICRA1999). Detroit, Michigan: IEEE, pp.2843-2848, (1999).

DOI: 10.1109/robot.1999.774028

[4] T. Knusten, Designing an underwater eel-like robot and developing anguilliform locomotion control, http: /www. ese. upenn. edu/~sunfest/pastProjects/Papers00/KnutsenTama ra. pdf.

[5] J. Liu, Z. Chen, W. Chen, L. Wang, A new type of under water turbine imitating fish-fin for under water robot, Robot, 22(5): pp.427-432, 2000 (in Chinese).

[6] H. Xie, D. Zhang, L. Shen, Control System Design and Realization of Bionic Underwater Vehicle Propelled by the Long Flexible Fin Undulation, Journal of Control & Automation, 22 8-2, pp.218-221, 2006 (in Chinese).

[7] D. Zhang; L. Wang; J. Yu; M. Tan, Coordinated Transport by Multiple Biomimetic Robotic Fish in Underwater Environment, IEEE Transactions on Control Systems Technology, Vol. 15 , Issue 4, p.658 – 671, (2007).

DOI: 10.1109/tcst.2007.899153

[8] J. A. Walker, M. W. Westneat. Performance Limits of Labriform Propulsion and Correlates with Fin Shape and Motion. The Journal of Experimental Biology, vol. 205, no. 2, p.177−187, (2002).

DOI: 10.1242/jeb.205.2.177

[9] L. J. Rosenberger. Pectoral Fin Locomotion in Batoid Fishes: Undulation Versus Oscillation. The Journal of Experimental Biology, vol. 204, no. 22, p.379−394, (2001).

DOI: 10.1242/jeb.204.2.379

[10] P. R. Bandyopadhyay. Maneuvering Hydrodynamics of Fish and Small Underwater Vehicles. Integrative and Comparative Biology, vol. 42, no. 1, p.102−117, (2002).

DOI: 10.1093/icb/42.1.102

[11] N. Kato, M. Furushima. Pectoral Fin Model for Maneuver of Underwater Vehicles. In Proceedings of the 1996 Symposium on Autonomous Underwater Vehicle Technology. Monterrey, CA, p.49−56, (1996).

DOI: 10.1109/auv.1996.532400

[12] K. H. Low, A. Willy. Development and Initial Investigation of NTU Robotic Fish with Modular Flexible Fins. In Proceedings of the IEEE International Conference on Mechatronics & Automation (ICMA2005), Niagara Falls, Canada, p.958−963, (2005).

DOI: 10.1109/icma.2005.1626681

[13] S. Guo, Y. Okuda. Characteristic Evaluation of an Underwater Micro Biped Robot with Multi DOF. In Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation, Chengdu, China, p.95−100, (2004).

DOI: 10.1109/icima.2004.1384169

[14] S. Guo, Y. Okuda, K. Asaka. A Novel Type of Underwater Micro Biped Robot with Multi DOF. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, Barcelona, Spain, p.4881−4886, (2004).

DOI: 10.1109/robot.2004.1302491

[15] H. Liu, K. Kawachi. A Numerical Study of Undulatory Swimming. Journal of Computational Physics, vol. 155, no. 2, p.223−247, (1999).

DOI: 10.1006/jcph.1999.6341

[16] H. Liu, K. Kawachi. The Three-dimensional Hydrodynamics of Tadpole Locomotion. The Journal of Experimental Biology, vol. 200, no. 4, p.2807−2819, (1997).

DOI: 10.1242/jeb.200.22.2807

[17] R. Ramamurti1, W. C. Sandberg, R. Lohner, J. A. Walker, M.W. Westneat. Fluid Dynamics of Flapping Aquatic Flight in the Bird Wrasse: Three-dimensional Unsteady Computations with Fin Deformation. The Journal of Experimental Biology, vol. 205, no. 19, p.2997−3008, (2002).

DOI: 10.1242/jeb.205.19.2997

[18] Hiroyoshi Suzuki, Naomi Kato. A Numerical Study on Unsteady Flow Around a Mechanical Pectoral Fin. International Journal of Offshore and Polar Engineering, vol. 15, no. 3, p.161−167, (2005).

[19] Low, K. H. and Willy, A. (2006). Biomimetic motion planning of an undulating robotic fish fin. J. Vib. Control 12, 1337-1359.

DOI: 10.1177/1077546306070597

[20] Low, K. H. (2007). Design, development and locomotion control of bio-fish robot with undulating anal fins. Int. J. Robot. Autom. 22, 88-99.

DOI: 10.2316/journal.206.2007.1.206-1009

[21] Curet, O. M., Patankar, N. A., Lauder, G. V. and MacIver, M. A. (2011b). Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor. Bioinspir. Biomim. 6, 026004.

DOI: 10.1088/1748-3182/6/2/026004

[22] Sfakiotakis, M., Lane, D. M. and Davies, B. C. (2001).

[23] MacIver, M. A., Patankar, N. A. and Shirgaonkar, A. A. (2010). Energy-information trade-offs between movement and sensing. PLoS Comput. Biol. 6, e1000769.

DOI: 10.1371/journal.pcbi.1000769

[24] Shirgaonkar, A. A., Curet, O. M., Patankar, N. A. and Maciver, M. A. (2008). The hydrodynamics of ribbon-fin propulsion during impulsive motion. J. Exp. Biol. 211, 3490-3503.

DOI: 10.1242/jeb.019224

[25] Flammang, B. E., Lauder, G. V., Troolin, D. R. and Strand, T. E. (2011). Volumetric imaging of fish locomotion. Biol. Lett. 7, 695-698.

DOI: 10.1098/rsbl.2011.0282

[26] K. J. Kim and M. Shahinpoor, Ionic polymer–metal composites: II. Manufacturing techniques, Smart Mater. Struct., vol. 12, p.65–79, (2003).

DOI: 10.1088/0964-1726/12/1/308

[27] R. Tiwari, E. Garcia, The state of understanding of ionic polymer metal composite architecture: a review, Smart Mater. Struct. 20 (2011) 083001.

DOI: 10.1088/0964-1726/20/8/083001

[28] Mazhar Ul Haq, Prof. Zhao Gang, Shaban Usman , Anees Ur Rehman, S.M. Aftab, 2015, Forward Kinematic Analysis of IPMC Actuated Three Link Mechanism for Fin Actuation of Fish like Micro Device, Journal of Biomimetics, Biomaterials, and Biomedical Engineering Vol. 23 pp.67-75.

DOI: 10.4028/www.scientific.net/jbbbe.23.67

[29] Syed-shah KHALID, Liang ZHANG, Xue-wei ZHANG, Ke SUN, Three-dimensional numerical simulation of a vertical axis tidal turbine using the two-way fluid structure interaction approach, J Zhejiang Univ-Sci A (Appl Phys & Eng) 2013 14(8): 574-582.

DOI: 10.1631/jzus.a1300082

[30] Mazhar Ul Haq, Prof. Zhao Gang, Hafiz Muhammad Waqas , Anees Ur Rehman, S.M. Aftab, Deflection Analysis of IPMC Actuated Fin of a Fish like Micro Device, Journal of Biomimetics, Biomaterials, and Biomedical Engineering 2015 Vol. 24 (2015).

DOI: 10.4028/www.scientific.net/jbbbe.24.97

[31] ANSYS Mechanical User Guide / Configuring Analysis Settings / Analysis Settings for Most Analysis Types / Solver Controls.