Title :
An artificial fish robot using ICPF actuator
Author :
Guo, Shuxiang ; Wakabayashi, Kazutoshi ; Kato, Norihiko ; Fukuda, Toshio ; Nakamura, Tatsuya ; Oguro, Keisuke
Author_Institution :
Dept. of Mech. Eng., Mie Univ., Tsu, Japan
Abstract :
It is our purpose to develop an artificial fish robot that has 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 artificial fish robot utilizing ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. Biomimetic fish-like propulsion using ICPF actuator as a propulsion tail fin for an artificial fish robot swimming structure in water or aqueous medium is developed. The overall size of the artificial fish robot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of platinum electrodes. Characteristics of the artificial fish robot are measured by changing the frequency of the input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of the proposed artificial fish robot can be controlled by changing the frequency of input voltage
Keywords :
biomimetics; conducting polymers; intelligent actuators; medical robotics; microactuators; microrobots; mobile robots; polymer films; velocity control; 0.1 to 5 Hz; artificial fish robot; biomimetic fish-like propulsion; boat shaped; controlled swimming speed; flexibility; input voltage frequency change; intracavity intervention; ionic conducting polymer film actuator; low voltage driven; microrobot; propulsion tail fin; prototype model; safety in body; servo actuator; swimming structure; undulatory motion; Actuators; Frequency; Low voltage; Marine animals; Polymer films; Propulsion; Prototypes; Robots; Safety; Servomechanisms;
Conference_Titel :
Micromechatronics and Human Science, 1997. Proceedings of the 1997 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-4171-6
DOI :
10.1109/MHS.1997.768881
