DocumentCode
2745235
Title
A New Type of Underwater Microrobot Driven By Single ICPF Actuator
Author
Ye, Xiufen ; Xu, Shizhao ; Guo, Shuxiang ; Wang, Kejun ; Yang, Yi
Author_Institution
Autom. Coll., Harbin Eng. Univ.
Volume
2
fYear
0
fDate
0-0 0
Firstpage
8953
Lastpage
8957
Abstract
This paper presents a new type of underwater microrobot. It uses only one piece of ionic conducting polymer films (ICPF) as the actuator. The structure of the microrobot is introduced in detail. The factors influencing the moving mode of the microrobot were analyzed. Theory analysis illustrates the motion mechanism of the microrobot. Through experimental study, we get the results of relationships among moving speed, signal voltage amplitude and signal frequency
Keywords
cascade systems; conducting polymers; microrobots; mobile robots; motion control; polymer films; underwater vehicles; cascade system; ionic conducting polymer film actuator; motion mechanism; moving speed; signal frequency; signal voltage amplitude; underwater microrobot; Actuators; Automation; Fasteners; Frequency; Oceans; Polymer films; Propellers; Tail; Voltage; Water resources; Ionic conducting polymer film; cascade; otion mechanism;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location
Dalian
Print_ISBN
1-4244-0332-4
Type
conf
DOI
10.1109/WCICA.2006.1713731
Filename
1713731
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