Development of an artificial fish microrobot

Author

Guo, Shuxiang ; Fukuda, Toshio ; Oguro, Keisuke

Author_Institution

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

fYear

1999

fDate

1999

Firstpage

135

Lastpage

140

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 body. In this paper, we propose a new prototype model of an underwater microrobot utilizing ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. Biomimetic fish-like propulsion using ICPF actuator as a propulsion tail fin for 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. 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 proposed underwater microrobot can be controlled by changing the frequency of input voltage

Keywords

biomechanics; biomimetics; conducting polymers; microrobots; mobile robots; polymer films; servomechanisms; underwater vehicles; 0.1 to 5 Hz; 10 mm; 2 mm; 40 mm; aqueous medium; artificial fish microrobot; biomimetic fish-like propulsion; flexibility; ionic conducting polymer film actuator; low voltage; microrobot swimming structure; propulsion tail fin; prototype model; response; safety; 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

Micromechatronics and Human Science, 1999. MHS '99. Proceedings of 1999 International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-5790-6

Type

conf

DOI

10.1109/MHS.1999.819994

Filename

819994