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 ionic conducting polymer film (ICPF) actuator as the servo actuator. The fish-like propulsion using 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 with a pair of fins is 40 mm in length, 10 mm in width and 2 mm in thickness. 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.


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    Title :

    Development of underwater microrobot using ICPF actuator


    Contributors:
    Guo, Shuxiang (author) / Fukuda, T. (author) / Kato, N. (author) / Oguro, K. (author)


    Publication date :

    1998


    Size :

    6 Seiten, 16 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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