An Underwater Microrobot with Six Legs Using ICPF Actuators

摘要：

　　In this paper,an underwater microrobot with six legs using ICPF (ion conductive polymer film) actuators is presented.The underwater microrobot aims to implement multi- DOF of robotic motions in wide applications such as mineclearing operations,pipeline tracking and surveying deep-ocean.In order to implement this goal,it is important to select a reasonable drive.The ICPF is one of actuator materials.The ICPF has advantages of low voltage driving,low noise and no pollution.The control of floating and diving are available by modulating the gaits of the microrobot.The robot’s speed is changed by adjusting the voltage and frequency of the both ends of the robot.Experiments have proved that it is feasible to study the gaits of the microrobot.The development of this system can be a prospect approach for further research in the field of underwater microrobot.

关键词： Underwater Microrobot Ion Conductive Polymer Film Actuator Robot Gait

作者: Shuxiang Guo Fu Wan Wei Wei Jian Guo Yunliang Wang

作者单位: School of Electrical Engineering Tianjin University of Technology Binshui Xidao Extension 391, Tianj School of Electrical Engineering Tianjin University of Technology Binshui Xidao Extension 391, Tianj

会议类型: 国际会议

会议名称: 2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 532-535

在线出版日期: 2013-05-25（万方平台首次上网日期，不代表论文的发表时间）