Development of an Infrared Sensor-based Wireless Intelligent Fish-like Underwater Microrobot

This paper is about an Infrared Sensor-based Wireless Intelligent Fish-like Underwater Microrobot. We will study on the AVR (Armoured Vehicle Reconnaissance) minimum control system, IRDA (The Infrared Ray Data Association) infrared communication system and ICPF (Ionic Conducting Polymer Film) actuators for underwater microrobot motion control. The AVR control system use atmega16 as the centre of the mechanical and control system of the microrobot, sent square control signal to the ICPF actuator, and use the electric relay G6S-2 as the circuit changer to change the input voltage of ICPF actuator to make the microrobot carrying out different motions underwater. The IRDA infrared communication system can be used for communication between the microrobot and mother submarine with 940 nm 38 k infrared ray. At last, the experiment results show us it is possible for the microrobot to realize motion movement underwater.