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.
Development of underwater microrobot using ICPF actuator
IEEE International Conference on Robotics and Automation, 1998 ; 2 ; 1829-1834
1998
6 Seiten, 16 Quellen
Conference paper
English
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