DocumentCode :
153628
Title :
A bionic micro sucker actuated by IPMC
Author :
Huashan Feng ; Wenhao Dong ; Ningli Chai
fYear :
2014
fDate :
20-23 Sept. 2014
Firstpage :
223
Lastpage :
226
Abstract :
A bionic micro sucker was designed in this study based on the analyses of the structure and behavior of leech suckers. This sucker helps micro medical robot to adhere to the inner wall of the gastrointestinal tract and perform long-term test of the peristalsis. It is actuated by petaloid ionic-polymer metal composite (IPMC), and wrapped by innocuous silicone rubber, which makes it like a foveate plate and fit closely on the inner wall of the gastrointestinal tract. The silicone elastomer structure bends when 3-5V direct voltage is applied to the IPMC, and forms a negative pressure by closely contact with the gastrointestinal tract, thus realizing the initiative adsorption that imitates leech suckers. The preliminary experiment showed that this micro sucker is able to bear a load of 200g successfully when it sucks on a glass surface.
Keywords :
biocybernetics; electroactive polymer actuators; medical robotics; microrobots; IPMC; bionic microsucker; foveate plate; gastrointestinal tract; innocuous silicone rubber; leech suckers behavior; leech suckers structure; long-term test; micromedical robot; peristalsis; petaloid ionic-polymer metal composite; silicone elastomer structure; Adsorption; Force; Gastrointestinal tract; Glass; Muscles; Robots; Surface treatment; IPMC; initiative adsorption; leech sucker;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Orange Technologies (ICOT), 2014 IEEE International Conference on
Conference_Location :
Xian
Type :
conf
DOI :
10.1109/ICOT.2014.6956640
Filename :
6956640
Link To Document :
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