CN110304222A - A self-generating bionic manta ray driven by IPMC - Google Patents

Abstract

The invention discloses a self-generating bionic manta ray driven by IPMC, comprising an upper hatch, a lower deck, a pectoral fin lower splint and a pectoral fin driving mechanism; the upper hatch is arranged above the lower deck, and the upper hatch is connected to the lower deck The lower deck forms an airtight cavity, and the airtight cavity is provided with a power module, a control module, an energy collection circuit and a time-sharing switching circuit, and the power module and the time-sharing switching circuit are respectively connected to the control module; the energy collection The circuit is respectively connected with the pectoral fin driving mechanism and the power supply module; the pectoral fin driving mechanism is arranged between the lower deck and the lower splint of the pectoral fin, and the inside of the pectoral fin driving mechanism is embedded with an IPMC driver, and the IPMC driver is connected with the power supply module and the control module respectively Connection; the bionic manta ray of the present invention adopts IPMC material as a driver and an energy harvester at the same time, and provides ultra-long battery life for the bionic manta ray by converting kinetic energy in the water environment into electrical energy.

Description

A self-generating bionic manta ray driven by IPMC

technical field

The invention belongs to the technical field of applying IPMC materials to bionic applications, in particular to a self-generating bionic manta ray driven by IPMC.

Background technique

With the deepening of human exploration of complex waters such as the ocean, it is becoming more and more important to develop and apply underwater robots to perform dangerous or difficult tasks in various complex water environments. Aquatic organisms have a body structure adapted to the underwater environment and excellent underwater movement capabilities, which enable them to survive in complex underwater environments. Represented by bionic fish, it has always been an important idea to develop underwater robots by studying the morphology and movement of fish to obtain inspiration to design bionic fish robots. The bionic fish robot has the advantages of strong adaptability to the underwater environment, high propulsion efficiency, and fast speed. Bionic fish robots need to imitate the movement of creatures to achieve some complex actions when moving underwater. However, most of the bionic fish robots are driven by motors at present, which makes such bionic fish robots relatively large in size, flexible, maneuverable and controllable. The performance is greatly restricted and it is difficult to achieve flexible and continuous movement. At the same time, it is difficult to maintain the concealment when traveling underwater due to the sound generated when the motor is running. Therefore, the current bionic fish robot is difficult to realize the advantages of flexible, efficient and sustainable movement of aquatic organisms in the water environment.

With the continuous expansion of related research on bionic fish, the locomotion mode that generates the main propulsion through pectoral fin movement has begun to attract attention. Although the pectoral fin propulsion mode is slightly inferior to the caudal fin propulsion mode in terms of speed, the pectoral fin propulsion mode has obvious advantages in terms of propulsion efficiency, turning maneuverability, and swimming stability. The manta ray fish is a typical fish that swims freely in the water by flapping its pectoral fins. Its movements are flexible, it can turn quickly, and it can also make good use of its wide pectoral fins to glide effortlessly in the water. Based on the excellent movement characteristics of the manta ray, the bionic manta ray can not only solve the insufficiency of traditional propulsion methods, but also solve the concealment problem of small underwater unmanned vehicles. Due to the advantages of manta ray fish, domestic and foreign attach great importance to and have designed a large number of bionic manta ray prototypes.

In addition to the advantages of imitating manta ray movement and achieving high efficiency, high maneuverability and stability in the pectoral fin propulsion mode. Energy issues have always plagued the practical application of bionic manta rays and even various bionic fish. Bionic manta rays often work in wild environments such as oceans, lakes, and rivers. Humans cannot supplement energy for them, and can only rely on the energy carried by the bionic fish to work. Because in the wild environment, most of the bionic fish use batteries for power supply when working, and the capacity of existing batteries is limited, which cannot meet the needs of long-term cruising and work. So how to solve the energy problem has become a major problem for underwater bionic manta rays.

Obtaining energy from nature through energy harvesting technology is an important way to solve the long-term energy supply of bionic manta rays. In the natural energy system, the ocean contains inexhaustible wave and current energy, which will be the focus of future renewable energy development. Therefore, with the help of advanced energy harvesting technology and specific structural design to obtain marine energy, it provides an important idea for the realization of underwater bionic manta rays with self-powered capabilities.

There are three main types of existing ocean energy harvesting technologies: using electromagnetic energy conversion devices to convert ocean kinetic energy into electrical energy is the electromagnetic type, which has the advantages of low cost and high output power, but the disadvantage is that the induced voltage is small, and the output power increases with the volume of the system. Compared with the electromagnetic type, the electrostatic type that uses an electrostatic generator to convert vibration mechanical energy into electrical energy can obtain a higher output voltage with the same size, but in order to achieve the voltage constraint at both ends of the capacitor or the charge constraint of the capacitor , requires an independent power supply; the piezoelectric effect of the piezoelectric material is used to convert the vibration mechanical energy into a piezoelectric type. Since the piezoelectric material is a rigid material, the piezoelectric material is more suitable for occasions under the action of high-frequency periodic loads, and is not suitable for Low-frequency motion in marine environments.

Contents of the invention

The purpose of the present invention is to provide a bionic propulsion device based on the existing underwater bionic propulsion device, which has complex structure and insufficient flexibility due to the driving mode, poor endurance and insufficient energy supply for long-term cruising due to the power supply mode. The self-generating bionic manta ray driven by IPMC, the present invention uses IPMC material as the driving element and energy harvester at the same time, and designs an underwater bionic manta ray with long-range cruise capability. This integrated design will change the existing underwater bionic propulsion device The single energy consumption relationship between the energy supply system and the drive module realizes the ultra-long battery life of the underwater bionic propulsion device.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A self-generating bionic manta ray driven by IPMC, comprising an upper hatch, a lower deck, a pectoral fin lower splint and a pectoral fin driving mechanism; the upper hatch is arranged above the lower deck, and the upper hatch and the lower deck A closed cavity is formed, and a power supply module, a control module, an energy harvesting circuit and a time-sharing switching circuit are arranged in the closed cavity, and the power supply module and the time-sharing switching circuit are respectively connected to the control module; the energy collection circuit is respectively connected to the The pectoral fin drive mechanism is connected to the power module; the power supply module supplies power to the pectoral fin drive mechanism, the control module, and the time-sharing switching circuit; the control module is used to control the movement of the pectoral fin drive mechanism; the energy harvesting circuit is used to collect pectoral fin drive The electrical energy generated by the mechanism, and the collected electrical energy is stored in the power module; the time-sharing switching circuit is used to switch the driving mode and power generation mode of the bionic manta ray; the pectoral fin driving mechanism is arranged between the lower deck and the lower splint of the pectoral fin Between, described pectoral fin driving mechanism comprises left side pectoral fin and right side pectoral fin, and described left side pectoral fin and right side pectoral fin are all embedded with IPMC driver, and described IPMC driver is connected with power supply module and control module respectively; There is a tail fin structure behind the splint.

Preferably, a plurality of IPMC drivers are respectively embedded in the left pectoral fin and the right pectoral fin, and the lengths of the plurality of IPMC drivers inside the pectoral fin drive mechanism decrease from the manta ray head to the tail;

Further, a plurality of IPMC drivers in the left side pectoral fin and a plurality of IPMC drivers in the right side pectoral fin are symmetrical about the horizontal central axis of the lower deck; The horizontal central axis of the lower deck is arranged at a certain angle; this design can better imitate the fluctuations transmitted from front to back, from the middle to both sides when the manta ray moves in the water, and the pectoral fins produce waves.

Further, the pectoral fin driving mechanism is made of flexible silicone material; and the thickness of the pectoral fin driving mechanism decreases from the connection with the body to the edge; this design better simulates the pectoral fin structure of a real manta ray, and makes bionic The movement of manta rays in the water is more flexible, the driving efficiency is higher, and it is also conducive to the realization of the movement mode combining pectoral fin swing and wave.

Specifically, the upper hatch and the lower hatch are made of lightweight waterproof materials, which can provide a certain buoyancy for the bionic manta ray and help it maintain balance during movement.

Specifically, the driving method of the bionic manta ray includes:

Forward movement, through the control module, voltages are sequentially applied to multiple IPMC drivers inside the pectoral fin drive mechanism from the front to the rear, so that the multiple IPMC drivers are sequentially bent to drive the left and right pectoral fins to fluctuate and swing, and then generate a driving force to make The bionic manta ray moves forward;

Turning movement, the sequence of the voltage applied by the control module on the multiple IPMC drivers is the same as that applied in the forward movement; when turning left, the voltage applied to the IPMC driver in the left pectoral fin by the control module is less than that applied to the right pectoral fin The voltage on the inner IPMC driver; when turning right, the voltage applied to the IPMC driver in the left pectoral fin by the control module is greater than the voltage applied to the IPMC driver in the right pectoral fin; the voltage applied to the IPMC driver in the left pectoral fin is the same as The greater the voltage difference applied to the IPMC driver in the right pectoral fin, the greater the turning amplitude and speed of the bionic manta ray.

Specifically, the power generation method of the bionic manta ray is: when the bionic manta ray is in the power generation mode, the pectoral fins on the left and right sides of the bionic manta ray will bend and deform with the flow of water, driving a plurality of IPMCs inside the left and right pectoral fins The driver is bent to generate a voltage between the two electrodes of the IPMC driver, and then the electric energy generated by the IPMC driver is collected and processed through the energy harvesting circuit, and the electric energy generated by the IPMC driver is stored in the power module.

Compared with the prior art, the beneficial effects of the present invention are: (1) the bionic manta ray of the present invention does not use a motor or a steering gear, but uses a new type of intelligent material IPMC as a driver, and realizes bionics under the condition of no rigid drive. The flexible drive and flexible movement of the manta ray make the overall size of the bionic manta ray more compact, lighter in weight, and its movement more continuous, flexible and maneuverable; it better realizes the imitation of the real manta ray; at the same time, it avoids the motor The noise generated during driving makes the motion of the bionic manta ray of the present invention more concealed in water; (2) the bionic manta ray of the present invention not only uses IPMC material as the driver, but also as an energy harvester, by converting the kinetic energy in the water environment Converted to electrical energy to provide ultra-long endurance for the bionic manta ray.

Description of drawings

Fig. 1 is a kind of overall structure schematic diagram of the self-generating type bionic manta ray driven by IPMC based on the present invention;

Fig. 2 is the side view of a kind of self-generating type bionic manta ray driven by IPMC based on the present invention;

Fig. 3 is the schematic diagram of arrangement of the IPMC driver inside the left pectoral fin among the present invention;

Fig. 4 is the schematic diagram of the connection structure between the pectoral fin driving mechanism and the lower deck and the lower splint of the pectoral fin in the present invention;

Fig. 5 is a schematic structural view of the middle and lower decks of the present invention;

Fig. 6 is the schematic structural view of the lower splint of the pectoral fin in the present invention;

7(a) to 7(d) are schematic diagrams of the action of the pectoral fin drive mechanism during the movement of the bionic manta ray in the present invention;

In the figure: 1. Upper hatch cover; 2. Lower deck; 3. Lower splint of pectoral fin; 4. Driving mechanism of pectoral fin; 5. IPMC driver; 6. Tail fin structure; 7. Bolt; 8. Copper sheet.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Ionic Polymer-Metal Composites (IPMC for short) is a new type of intelligent material, which produces large bending deformation under low voltage and considerable charge accumulation under external load. On the one hand, it can be designed as a driving mechanism to realize the flexible movement of bionic devices. The flapping behavior of the pectoral fins of manta rays is quite similar to the deformation characteristics of IPMC materials, and its wide pectoral fin structure is also similar to the driving characteristics of IPMC materials. match. Moreover, due to the good flexibility of IPMC, the composition contains ions and water solvents, making this material very suitable for underwater applications. On the other hand, it can convert the kinetic energy of the surrounding water environment into electrical energy for storage, and further provide sustainable energy for driving. Compared with other energy harvesting technologies, the current low-frequency (0Hz-50Hz) driving characteristics of IPMC materials have incomparable advantages over similar materials. Similar to the low-frequency drive response characteristics, IPMC materials have the highest energy harvesting efficiency in motion modes below 50 Hz. Waves are the most important and common form of ocean motion, and the more meaningful distribution area of wave energy is the wave area with a frequency range of 0.5 to 30 seconds. It can be seen that the energy harvesting frequency band of the IPMC material matches the wave motion frequency band.

Therefore, based on the energy conversion characteristics of the IPMC material, the present invention uses the IPMC material as a driving element and an energy harvester to design an underwater bionic manta ray with long-range cruise capability. This integrated design will change the single energy consumption relationship between the energy supply system and the drive module of the existing underwater bionic propulsion device, and realize the ultra-long battery life of the underwater bionic propulsion device. Therefore, the present invention uses manta ray fish as the carrier, mainly uses intelligent material IPMC (Ionic Polymer-Metal Composites) as the driver, and realizes the efficient and flexible movement of the bionic manta ray in the water by causing the pectoral fins of the bionic manta ray to fluctuate and swing. . At the same time, IPMC is used as an energy harvester, and the kinetic energy in the water environment is converted into electrical energy through energy harvesting technology, so as to realize the self-power supply capability of the bionic manta ray, and greatly improve its battery life and long-distance operation ability.

Example 1

As shown in Figures 1 to 6, the present embodiment provides a self-generating type bionic manta ray driven by IPMC, including an upper hatch 1, a lower deck 2, a lower pectoral fin splint 3 and a pectoral fin driving mechanism 4; The hatch cover 1 is arranged above the lower deck 2, and the upper hatch 1 and the lower deck 2 form an airtight cavity, and a power module, a control module, an energy collection circuit and a time-sharing switching circuit are arranged in the airtight cavity. The power supply module and the time-sharing switching circuit are respectively connected with the control module; the energy harvesting circuit is connected with the pectoral fin drive mechanism 4 and the power supply module respectively; the power supply module supplies power for the pectoral fin drive mechanism 4, the control module and the time-sharing switching circuit; The control module is used to control the movement of the pectoral fin drive mechanism 4; the energy harvesting circuit is used to collect the electric energy generated by the pectoral fin drive mechanism 4, and store the collected electric energy in the power supply module; the time-sharing switching circuit is used for Switch the drive mode and power generation mode of the bionic manta ray; the pectoral fin drive mechanism 4 is arranged between the lower deck 2 and the pectoral fin lower splint 3, and the pectoral fin drive mechanism 4 includes a left pectoral fin and a right pectoral fin, and the left pectoral fin The inside of the pectoral fin and the right side are all embedded with an IPMC driver 5, and the IPMC driver 5 is connected with the power module and the control module respectively; the rear of the lower splint 3 of the pectoral fin is provided with a tail fin structure 6, and the tail fin structure 6 remains motionless in water , used to maintain the balance of the bionic manta ray in the water.

Preferably, four IPMC drivers 5 are respectively embedded in the left pectoral fin and the right pectoral fin, and the lengths of the four IPMC drivers 5 inside the left pectoral fin/right pectoral fin decrease from the manta ray head to the tail, arranged in gradients.

Further, 4 IPMC drivers 5 in the left side pectoral fin and 4 IPMC drivers 5 in the right side pectoral fin are symmetrical about the horizontal central axis of the lower deck 2; 4 in the left side pectoral fin/right side pectoral fin The IPMC driver 5 forms a certain angle with the horizontal central axis of the lower deck 2; this design can better imitate the fluctuations transmitted from the front to the back and from the middle to both sides when the pectoral fins of the manta ray move in the water.

Further, the pectoral fin driving mechanism 4 is made of flexible silicone material; and the thickness of the pectoral fin driving mechanism 4 decreases from the connection with the body to the edge (the middle part of the body, that is, the airtight cavity and the lower splint 3 of the pectoral fin ); this design better simulates the pectoral fin structure of the real manta ray, and makes the movement of the bionic manta ray more flexible in the water, with higher driving efficiency, and is also conducive to the realization of the movement mode combining pectoral fin swing and wave.

Specifically, the pectoral fin lower splint 3 and the lower deck 2 are connected by four bolts 7; the corresponding positions on the opposite surfaces where the lower deck 2 and the pectoral fin lower splint 3 are connected are respectively provided with eight copper sheets 8, and the The 8 copper sheets 8 on the lower deck 2 are respectively connected to the positive electrodes of the 8 IPMC drivers 5 inside the pectoral fin drive mechanism 4; The negative electrode of IPMC driver 5 is connected; 16 copper plates 8 are connected with control module respectively, and described control module is single-chip microcomputer; Control the voltage size that is applied on 8 IPMC driver 5 positive and negative electrodes by single-chip microcomputer, thereby control bionic manta ray state of motion in water.

When applying positive voltage to the positive and negative electrodes of the IPMC driver 5, the IPMC driver 5 bends upward; when applying a reverse voltage to the positive and negative electrodes of the IPMC driver 5, the IPMC driver 5 bends downward ;By applying periodic forward and reverse voltages to the IPMC driver 5, the left pectoral fin/right pectoral fin can be driven to flap up and down, thereby driving the bionic manta ray to move in the water.

Specifically, both the upper hatch 1 and the lower deck 2 are made of lightweight waterproof material, which can provide a certain buoyancy for the bionic manta ray and help it maintain balance in motion.

Specifically, a wireless communication module can also be provided inside the bionic manta ray for wireless communication with an external intelligent terminal/remote control device; thereby controlling the bionic manta ray.

Example 2

This embodiment provides a driving method and power generation method for a self-generating bionic manta ray driven by IPMC. This embodiment couples the behavior of IPMC driving and energy collection, and uses the energy relationship as a link to establish driving and energy collection. dual working mode. In the drive mode, the power supply is supplied, and the control module generates a drive signal. By adjusting the voltage applied to the IPMC driver 5, various movements of the bionic manta ray are realized in the drive mode. The movements of the pectoral fins during the movement are shown in Figure 7.

Specifically, the driving method of the bionic manta ray includes:

Forward movement, through the control module, voltages are sequentially applied to the four groups of IPMC drivers 5 inside the pectoral fin drive mechanism 4 along the front to the rear, so that the four groups of IPMC drivers 5 are sequentially bent to drive the left and right pectoral fins to fluctuate and swing, thereby generating Propulsion moves the bionic manta ray forward;

Turning motion, described control module is applied to the sequence of voltage on 8 IPMC drivers 5 and the sequence that is applied in forward movement is identical; The voltage on the IPMC driver 5 in the side pectoral fin; when turning right, the voltage applied to the IPMC driver 5 in the left pectoral fin by the control module is greater than the voltage applied to the IPMC driver 5 in the right pectoral fin; Different, different sizes of propulsion are produced, and the propulsion force on the right side is greater/smaller than the left side, making the bionic manta deflect to the left/right as a whole. The greater the difference between the voltage applied to the IPMC driver 5 in the left pectoral fin and the voltage applied to the IPMC driver 5 in the right pectoral fin, the greater the turning amplitude and speed of the bionic manta ray. In the process of advancing or turning, the voltage applied to the IPMC driver 5 should be within the reasonable voltage range of the IPMC driver 5 .

Specifically, the power generation method of the bionic manta ray is: when the bionic manta ray is in the power generation mode, the pectoral fins on the left and right sides of the bionic manta ray will bend and deform with the flow of water, driving a plurality of IPMCs inside the left and right pectoral fins The driver 5 is bent to generate a voltage between the two electrodes of the IPMC driver 5, and then the electric energy generated by the IPMC driver 5 is collected and processed through the energy harvesting circuit, and the electric energy generated by the IPMC driver 5 is stored in the power module.

In this embodiment, the working mode (drive mode and power generation mode) of the bionic manta ray is switched by a time-sharing switching circuit; The time-sharing switching circuit switches the working mode of the bionic manta ray to the power generation mode, and charges the bionic manta ray; when the bionic manta ray is in the power generation mode for a period of time, the time-sharing switching circuit switches the working mode of the bionic manta ray to the driving mode; thus Guarantee the ultra-long battery life of the bionic manta ray underwater.

Optionally, the power monitoring module can also be set to monitor the remaining power of the power module. When the remaining power of the power module is lower than the set threshold, the working mode of the bionic manta ray is switched to the power generation mode through the time-sharing switching circuit; when monitoring When the power module is fully charged, the working mode of the bionic manta ray is switched to the driving mode through the time-sharing switching circuit.

The bionic manta ray of this embodiment not only uses the IPMC material as the driver, but also serves as an energy harvester, which provides the bionic manta ray with super long battery life by converting kinetic energy in the water environment into electrical energy.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. a kind of self-generating type bionic manta ray driven based on IPMC is characterized in that, comprises upper hatch, lower deck, lower splint of pectoral fin and pectoral fin drive mechanism; Described upper hatch is located at the top of lower deck, and described upper The hatch cover and the lower deck form an airtight cavity, and the airtight cavity is provided with a power supply module, a control module, an energy collection circuit and a time-sharing switching circuit, and the power supply module and the time-sharing switching circuit are respectively connected to the control module; The energy harvesting circuit is respectively connected with the pectoral fin drive mechanism and the power supply module; the power supply module supplies power for the pectoral fin drive mechanism, the control module, and the time-sharing switching circuit; the control module is used to control the movement of the pectoral fin drive mechanism; the energy collection The circuit is used to collect the electric energy generated by the pectoral fin driving mechanism, and store the collected electric energy in the power module; the time-sharing switching circuit is used to switch the driving mode and power generation mode of the bionic manta ray; the pectoral fin driving mechanism is located in the lower cabin Between the plate and the lower splint of the pectoral fin, the pectoral fin drive mechanism includes a left pectoral fin and a right pectoral fin, and an IPMC driver is embedded inside the left pectoral fin and the right pectoral fin, and the IPMC driver is connected to a power supply module and a control module respectively. Connected; a caudal fin structure is provided behind the lower splint of the pectoral fin. 2. a kind of self-generating type bionic manta ray driven based on IPMC according to claim 1, is characterized in that, described left side pectoral fin and right side pectoral fin inside are respectively embedded with a plurality of IPMC drivers, and described pectoral fin driving mechanism The length of the multiple IPMC drivers inside the manta ray decreases from head to tail. 3. a kind of self-generating type biomimetic manta ray driven based on IPMC according to claim 2, is characterized in that, a plurality of IPMC drivers in the pectoral fin of the described left side and a plurality of IPMC drivers in the pectoral fin of the right side are relative to the lower cabin The horizontal central axis of the plate is symmetrical; the multiple IPMC drivers in the left pectoral fin/right pectoral fin form a certain angle with the horizontal central axis of the lower deck. 4. A kind of self-generating bionic manta ray driven by IPMC according to claim 2, wherein the pectoral fin driving mechanism is made of flexible silicone material; and the thickness of the pectoral fin driving mechanism is from being connected with the body decreasing towards the edge. 5. A kind of self-generating type bionic manta ray driven by IPMC according to claim 1, characterized in that, the upper hatch and the lower deck are made of lightweight waterproof materials. 6. A kind of self-generating type bionic manta ray driven based on IPMC according to any one of claims 1 to 5, characterized in that, the driving method of the bionic manta ray comprises: Forward movement, through the control module, voltages are sequentially applied to multiple IPMC drivers inside the pectoral fin drive mechanism from the front to the rear, so that the multiple IPMC drivers are sequentially bent to drive the left and right pectoral fins to fluctuate and swing, and then generate a driving force to make The bionic manta ray moves forward; Turning movement, the sequence of the voltage applied by the control module on the multiple IPMC drivers is the same as that applied in the forward movement; when turning left, the voltage applied to the IPMC driver in the left pectoral fin by the control module is less than that applied to the right pectoral fin The voltage on the inner IPMC driver; when turning right, the voltage applied to the IPMC driver in the left pectoral fin by the control module is greater than the voltage applied to the IPMC driver in the right pectoral fin; the voltage applied to the IPMC driver in the left pectoral fin is the same as The greater the voltage difference applied to the IPMC driver in the right pectoral fin, the greater the turning amplitude and speed of the bionic manta ray. 7. A kind of self-generating type bionic manta ray driven by IPMC according to claim 1, characterized in that, the power generation method of the bionic manta ray is: when the bionic manta ray is in the power generation mode, the bionic manta ray The pectoral fins on the left and right sides will bend and deform with the flow of water, which will drive multiple IPMC drivers inside the left and right pectoral fins to bend, thereby generating a voltage between the two electrodes of the IPMC driver, and then collecting the electric energy generated by the IPMC driver through the energy harvesting circuit And processing, storing the electrical energy generated by the IPMC driver in the power module.