Development of Bio-inspired Walking Microrobot using PVDF/PVP/PSSA-based IPMC Actuator

被引：0

作者：

Tien, Nguyen Kim ^{[1
]}

Hwang, Doyeon ^{[1
]}

Jung, Sunyong ^{[1
]}

Ko, Seong Young ^{[2
]}

Park, Jong-Oh ^{[2
]}

Park, Sukho ^{[2
]}

机构：

[1] Chonnam Natl Univ, Dept Mech Engn, Grad Sch, Gwangju, South Korea

[2] Chonnam Natl Univ, Sch Mech Engn, Gwangju, South Korea

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014) | 2014年

关键词：

ionic polymer-metal composite (IPMC); smart material actuator; walking robot; biomimetic robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Ionic polymer-metal composite (IPMC) is used in many bio-inspired aquatic systems due to its special characteristics of wet electro-active polymer (EAP). This paper proposes an IPMC actuator using poly-vinylidene fluoride (PVDF)/polyvinyl pyrrolidone (PVP)/polystyrene sulfuric acid (PSSA) blend membrane and explains a bio-inspired walking microrobot using the proposed IPMCs as actuators. The proposed IPMC actuator was fabricated using a PVDF/PVP/PSSA solution with the mixture ratio of 30/15/55. It could generate higher tip displacement and blocking force at low DC voltages compared with Nafion-based IPMC actuator. The PVDF/PVP/PSSA-based IPMC actuators were employed for our bio-inspired walking microrobot. Finally, the bio-inspired terrestrial walking microrobot has the weight of 1.3g and can demonstrate a walking motion with a speed of 0.55mm/s on the 0.2 coefficient of friction surface.

引用

页码：49 / 54

页数：6

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