Title :
A Novel Underwater Crablike Microrobot
Author :
Ye, Xiufen ; Gao, Baofeng ; Guo, Shuxiang ; Feng, Weixing ; Wang, Kejun
Author_Institution :
Autom. Coll., Harbin Eng. Univ.
Abstract :
In this paper, we presents a novel crablike underwater microrobot named crabliker-1. The designed microrobot has eight legs, and each leg is made up of two pieces of ICPF (ionic conducting polymer film). A new analysis method to the gait of the microrobot is proposed. Based on this method, three processes of single leg´s movement under different control signals are proposed. The structure and motion mechanism are given. The kinematics of single leg is discussed. And then, we set up the experimental platform to analyze the characteristics of the ICPF actuator. At last, the rightwards movement and circumvolve anticlockwise of the microrobot´s gait are carried out
Keywords :
conducting polymers; ionic conductivity; microrobots; mobile robots; polymer films; robot kinematics; underwater vehicles; crabliker-1; ionic conducting polymer film; motion mechanism; robot kinematics; underwater crablike microrobot; Actuators; Automation; Defense industry; Electrodes; Leg; Legged locomotion; Low voltage; Mobile robots; Muscles; Polymer films; ICPF actuator; crablike underwater microrobot; octopod gait; single leg;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257526
