Analysis on Dynamics for Flexible Leg of ICPF Actuated Tortoise-like Micro-robot

In the paper, we present a novel tortoise-like flexible micro-robot with four legs which can crawl and swim underwater. These legs are actuated by ICPF (Ionic Conducting Polymer Film) which is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. For analyzing the characters of the robot and improving the reliability and feasibility of the robot, we establish the dynamic model of the micro-robot by applying Pseudo-Rigid-Body-Dynamic-Model (PRBDM). The model is established by considering the dynamic effect of the robot, which is based on statics and kinematics. Then, the frequency analysis of the micro-robot based on PRBDM is investigated. Based on the PRBDM, the relation between the structure parameters and the natural frequency of the leg is theoretically derived and some analysis and experiment graphs about the angle displacement of the leg are performed.