A fish microrobot using ICPF actuator

Author

Guo, Shuxiang ; Kato, Norihiko ; Fukuda, Toshio ; Oguro, Keisuke

Author_Institution

Dept. of Intelligent Mech. Syst., Kagawa Univ., Takamatsu, Japan

fYear

1998

fDate

29 Jun-1 Jul 1998

Firstpage

592

Lastpage

597

Abstract

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in the body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator. Biomimetic fish-like propulsion using an ICPF actuator as a propulsion tail fin for a microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of fins. The characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of the proposed underwater microrobot can be controlled by changing the frequency of input voltage

Keywords

biomimetics; conducting polymers; microactuators; microrobots; mobile robots; polymer films; underwater vehicles; velocity control; 0.1 to 5 Hz; ICPF actuator; aqueous medium; biomimetic fish-like propulsion; fish microrobot; ionic conducting polymer film actuator; microrobot swimming structure; propulsion tail fin; servo actuator; swimming speed; underwater microrobot; water; Actuators; Biomimetics; Frequency; Low voltage; Marine animals; Polymer films; Propulsion; Prototypes; Safety; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Conference_Location

Coimbra

Print_ISBN

0-7803-4484-7

Type

conf

DOI

10.1109/AMC.1998.743603

Filename

743603