DocumentCode :
3519191
Title :
Development of an artificial fish microrobot
Author :
Guo, Shuxiang ; Fukuda, Toshio ; Oguro, Keisuke
Author_Institution :
Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu, Japan
fYear :
1999
fDate :
1999
Firstpage :
135
Lastpage :
140
Abstract :
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 ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. Biomimetic fish-like propulsion using ICPF actuator as a propulsion tail fin for microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of fins. 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 proposed underwater microrobot can be controlled by changing the frequency of input voltage
Keywords :
biomechanics; biomimetics; conducting polymers; microrobots; mobile robots; polymer films; servomechanisms; underwater vehicles; 0.1 to 5 Hz; 10 mm; 2 mm; 40 mm; aqueous medium; artificial fish microrobot; biomimetic fish-like propulsion; flexibility; ionic conducting polymer film actuator; low voltage; microrobot swimming structure; propulsion tail fin; prototype model; response; safety; servo actuator; swimming speed; underwater microrobot; water; Actuators; Biomimetics; Frequency; Low voltage; Marine animals; Polymer films; Propulsion; Prototypes; Safety; Servomechanisms;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Micromechatronics and Human Science, 1999. MHS '99. Proceedings of 1999 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-5790-6
Type :
conf
DOI :
10.1109/MHS.1999.819994
Filename :
819994
Link To Document :
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