Tadpole Robot (TadRob) using ionic polymer metal composite (IPMC) actuator

被引：10
作者：
Jung, J [1 ]
Tak, Y [1 ]
Kim, B [1 ]
Park, JO [1 ]
Lee, SK [1 ]
Pak, J [1 ]
机构：
[1] Korea Inst Sci & Technol, Seoul 130650, South Korea
来源：
SMART STRUCTURES AND MATERIALS 2003: ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) | 2003年 / 5051卷
关键词：
tadpole robot; IPMC actuator; undulation motion; thrust force; polymer fin; robot steering;
D O I：
10.1117/12.484299
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
We have developed the wireless tadpole robot that has simple geometry, driven by low voltage and the undulatory fin-motion using IPMC(Ionic Polymer Metal Composite) actuator. Behavior of TadRob is tested under various frequencies(1similar to8Hz) to find the correlation between actuator frequency and velocity of the robot. In addition, the robot velocity according to undulation motion and oscillation motion of the fin is compared to find the proper fin-motion to increase the efficiency of the robot. Also, steering capability is tested under variation of duty ratio. Based on experimental results, we can confirm that the velocity of TadRob can be controlled by changing frequency of input voltage and the steering angle can be increased with increasing the duty ratio.
引用
收藏
页码：272 / 280
页数：9
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