关键词: dielectric elastomer actuator (DEA), soft robot fish, motion analysis

Abstract: Dielectric elastomer actuators (DEAs) are promising enabling devices which can be used in a wide range of robots, artificial muscles, and microfluidics. They are characterized by high actuating strain, low cost and noise, and high energy density and efficiency. There are three main challenges for enabling DEs to become actuators: (i) developing suitable and compatible electrode materials; (ii) effectively isolating the actuator electrode from the surrounding fluid; and (iii) creating a rigid frame that usually requires prestraining of the dielectric layer. The use of robotic fish in water is an important application field of biomimetic soft robots. At present, most underwater robotic fish use spiral propulsion, which has several problems, including propulsion efficiency, position controllability and aquatic organism involvement. To provide solutions, the research and development of underwater robotic fish that imitate the fins and body propulsion of fish and the use of soft underwater robotic fish are in full adoption. This project involves the research and development of a bionic soft underwater robot fish with a software driver, which can imitate swimming via the tail fin and body of a fish, especially with respect to stable swimming propulsion, to successfully develop high-performance soft underwater robot fish. In addition, to imitate the unstable swimming movements of fish, such as turning and sharp acceleration and deceleration, robot fish that use DE drivers with good flexibility and high strain have been researched and developed.

Key words: dielectric elastomer actuator (DEA), soft robot fish, motion analysis