Movement analysis of grasp-type underwater microrobot

In this paper, a novel biomimetic walking grasp-type underwater microrobot, which looked like a crab with eight legs, was presented at first. The intermediate four legs are made of one piece of ICPF (Ionic Conducting Polymer Film) and two pieces of plastic flake used for grasping and releasing objects; the other four legs which are used for walking are made up of two pieces of ICPFs. The structure and motion mechanism of the microrobot are given in the paper. And a new method to grasp object through the intermediate four legs of the microrobot is proposed. The dynamic analysis of the grasp-leg during the process of the grasping is also proposed. The movement of the grasp-leg under different control signals by changing the frequency and amplitude of the input single is discussed. At last, the experiments of grasping movement of the microrobot are carried out.