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Development of ICPF Actuated underwater microrobots

International Journal of Automation and computing 2006年第4期3卷 382-391页

作者： Xiu-Fen Ye,Bao-Feng Gao Automation College, Harbin Engineering University, Harbin 150001, PRC Shu-Xiang Guo Automation College, Harbin Engineering University, Harbin 150001, PRC Faculty of Engineering, Kagawa University, Takamatsu 761-0396, Japan Li-Quan Wang College of Mechanical Electrical Engineering, Harbin Engineering University, Harbin 150001, PRC Automation College Harbin Engineering University Harbin PRC Faculty of Engineering Kagawa University Takamatsu Japan College of Mechanical Electrical Engineering Harbin Engineering University Harbin PRC

It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film （ICPF） are considered very useful and attractive for constructing various types of actuators and sensors. In this paper, we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking. Then, we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator. Through theoretic analysis, the motion mechanism of the microrobot is illustrated. It can swim forward and vertically. The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study. Lastly, we present a novel underwater crab-like walking microrobot named crabliker-1. It has eight legs, and each leg is made up of two pieces of ICPF. Three sample processes of the octopod gait are proposed with a new analyzing method. The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.

关键词： underwater microrobot Ionic Conducting Polymer Film (ICPF) actuator motion mechanism gait

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A New Type of Hybrid Fish-like microrobot

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International Journal of Automation and computing 2006年第4期3卷 358-365页

作者： Kinji Asaka Kansai Research Institute AIST MidorigaokaOsaka 563-8577Japan

In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film （ICPF） actuators. But the microrobot had some problems in walking and floating motions. In this paper, we propose a concept of hybrid microrobot （see Fig. 1）. The microrobot is actuated by a pair of caudal fins, a base with legs and an array of artificial swim bladders. We have developed a prototype of the base with legs and one artificial swim bladder, respectively, and carried out experiments for evaluating their characteristics. Experimental results show the base with legs can realize walking speed of 6 mm/s and rotating speed of 7.1 degrees/s respectively, and the prototype of the artificial swim bladder has a maximum floatage of 2.6 mN. The experimental results also indicate that the microrobot has some advantages, such as walking motion with 2 degrees of freedom, the walking ability on rough surface （sand paper）, the controllable floatage, etc. This kind of fish-like microrobot is expected for industrial and medical applications.

关键词： Biomimetic locomotion ionic conducting polymer film (ICPF) actuator hybrid microrobot underwater microrobot

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