Title :
A New Type of Underwater Microrobot Driven By Single ICPF Actuator
Author :
Ye, Xiufen ; Xu, Shizhao ; Guo, Shuxiang ; Wang, Kejun ; Yang, Yi
Author_Institution :
Autom. Coll., Harbin Eng. Univ.
Abstract :
This paper presents a new type of underwater microrobot. It uses only one piece of ionic conducting polymer films (ICPF) as the actuator. The structure of the microrobot is introduced in detail. The factors influencing the moving mode of the microrobot were analyzed. Theory analysis illustrates the motion mechanism of the microrobot. Through experimental study, we get the results of relationships among moving speed, signal voltage amplitude and signal frequency
Keywords :
cascade systems; conducting polymers; microrobots; mobile robots; motion control; polymer films; underwater vehicles; cascade system; ionic conducting polymer film actuator; motion mechanism; moving speed; signal frequency; signal voltage amplitude; underwater microrobot; Actuators; Automation; Fasteners; Frequency; Oceans; Polymer films; Propellers; Tail; Voltage; Water resources; Ionic conducting polymer film; cascade; otion mechanism;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713731
