A Ribbon Like Fin Using Electro Conductive Polymer For Precise Motion Control

Precise motion control of underwater vehicles without mechanical noises is a technical issue on underwater observation. As a solution for the problem, we pay attentions to bio-mechanisms of underwater creatures, especially ribbon-like fins being used for attitude control. Bio-mechanisms of creatures are adapted to environment as a result of evolution. If the motor control mechanisms of the creatures can be introduced into underwater robots, there is a possibility that a high performance actuator will be realized. In this research, we have been trying to develop a bio-inspired underwater actuator instead of screw propellers. As the material of a developing actuator,electroconductive polymer is used as an artificial muscle. In this paper, we introduce the concept of the developing actuator and the results of performance evaluation test of the developed electro conductive polymer is discussed.