A new type of fish-like underwater microrobot

被引:295
作者
Guo, SX [1 ]
Fukuda, T
Asaka, K
机构
[1] Kagawa Univ, Dept Intelligent Mech Syst Engn, Takamatsu, Kagawa 761, Japan
[2] Nagoya Univ, Dept Micro Syst Engn, Nagoya, Aichi 464, Japan
[3] AIST, Osaka 563, Japan
关键词
actuator; underwater micro robot;
D O I
10.1109/TMECH.2003.809134
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a new prototype model of an underwater fish-like micro robot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator to realize swimming motion with three degrees of freedom. Biomimetic fish-like,micro robot,using ICPF actuator as a propulsion tail fin and a buoyancy adjuster for a. micro robot swimming structure in water or aqueous medium is developed. The overall size of the underwater micro robot prototype shaped as a fish is 45 mm, in length, 10 mm in width, and 4 mm in thickness. It has two tails with a fin driven respectively, a body posture adjuster, and a buoyancy adjuster. The moving, characteristic of the underwater micro robot is measured by changing the frequency of input voltage from 0.1-5 Hz in water and the amplitude input voltage from 0.5-10 V. The experimental results indicate that changing the amplitude and the frequency of input voltage can control the swimming speed of proposed underwater microrobot.
引用
收藏
页码:136 / 141
页数:6
相关论文
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