It is our target to develop underwater microrobots for medical and industrial applications.This kind of underwater microrobots should have the characteristics of flexibility,good response and safety.Its structure shou...It is our target to develop underwater microrobots for medical and industrial applications.This kind of underwater microrobots should have the characteristics of flexibility,good response and safety.Its structure should be simple and it can be driven by low voltage and produces no pollution or noise.The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film(ICPF)are considered very useful and attractive for constructing various types of actuators and sensors.In this paper,we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking.Then,we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator.Through theoretic analysis,the motion mechanism of the microrobot is illustrated.It can swim forward and vertically.The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study.Lastly,we present a novel underwater crab-like walking microrobot named crabliker-1.It has eight legs,and each leg is made up of two pieces of ICPF.Three sample processes of the octopod gait are proposed with a new analyzing method.The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.展开更多
In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film （ICPF） actuators....In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film （ICPF） actuators. But the microrobot had some problems in walking and floating motions. In this paper, we propose a concept of hybrid microrobot （see Fig. 1）. The microrobot is actuated by a pair of caudal fins, a base with legs and an array of artificial swim bladders. We have developed a prototype of the base with legs and one artificial swim bladder, respectively, and carried out experiments for evaluating their characteristics. Experimental results show the base with legs can realize walking speed of 6 mm/s and rotating speed of 7.1 degrees/s respectively, and the prototype of the artificial swim bladder has a maximum floatage of 2.6 mN. The experimental results also indicate that the microrobot has some advantages, such as walking motion with 2 degrees of freedom, the walking ability on rough surface （sand paper）, the controllable floatage, etc. This kind of fish-like microrobot is expected for industrial and medical applications.展开更多
In this paper,we propose a new prototype model of a micro pump using ICPF(Ionic Conducting Polymer Film)actuator as the servo actuator.This micro pump consists of two active one- way valves that make use of the same I...In this paper,we propose a new prototype model of a micro pump using ICPF(Ionic Conducting Polymer Film)actuator as the servo actuator.This micro pump consists of two active one- way valves that make use of the same ICPF actuator.The overall size of this micro pump prototype is 12mm in diameter and 20mm in length.The actuating mechanism is as follows:(1)The ICPF actuator as the diaphragm is bent into anode side by application of electricity.Then the volume of the pump chamber increases,resulting in the inflow of liquid from the inlet to the chamber.(2)By changing the current direction,the volume of the pump chamber decreases,resulting in the liquid flow from the chamber to the outlet.(3)The ICPF actuator is put on a sine voltage,the micro pump provides liquid flow from the inlet to the outlet continuously.Characteristic of the micro pump is measured.The experimental results indicate that the micro pump has the satisfactory responses.展开更多
Organic soft actuators are of special interest in many fields including intravascular neurosurgery. Ion conductive polymer film （ICPF） actuators have been one of the strong candidates. The ICPF investigated here was...Organic soft actuators are of special interest in many fields including intravascular neurosurgery. Ion conductive polymer film （ICPF） actuators have been one of the strong candidates. The ICPF investigated here was a cation-exchange membrane （Nation 117, Du Pont）. When a voltage is given between the metal eIectrodes of an ICPF actuator, the ICPF actuator bends in the water due to the motion of Li＋ cations with associated water. In order to increase the freedom of the deformation of the ICPF actuator, structures of independent electrode pairs were proposed. The electrodes were selectively deposited by non-electrokvzed plating including the Pt [（NH3）6]^4＋ deposition process in a [Pt（NH3）6]Cl4 solution and the reduction process in a NaBH4 solution. Here, an elastomer adhesive tape with a fine electrode patterns was used performances were reported in detail. as a mask. The actuators processing conditions and their actuator展开更多
文摘It is our target to develop underwater microrobots for medical and industrial applications.This kind of underwater microrobots should have the characteristics of flexibility,good response and safety.Its structure should be simple and it can be driven by low voltage and produces no pollution or noise.The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film(ICPF)are considered very useful and attractive for constructing various types of actuators and sensors.In this paper,we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking.Then,we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator.Through theoretic analysis,the motion mechanism of the microrobot is illustrated.It can swim forward and vertically.The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study.Lastly,we present a novel underwater crab-like walking microrobot named crabliker-1.It has eight legs,and each leg is made up of two pieces of ICPF.Three sample processes of the octopod gait are proposed with a new analyzing method.The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.
文摘In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film （ICPF） actuators. But the microrobot had some problems in walking and floating motions. In this paper, we propose a concept of hybrid microrobot （see Fig. 1）. The microrobot is actuated by a pair of caudal fins, a base with legs and an array of artificial swim bladders. We have developed a prototype of the base with legs and one artificial swim bladder, respectively, and carried out experiments for evaluating their characteristics. Experimental results show the base with legs can realize walking speed of 6 mm/s and rotating speed of 7.1 degrees/s respectively, and the prototype of the artificial swim bladder has a maximum floatage of 2.6 mN. The experimental results also indicate that the microrobot has some advantages, such as walking motion with 2 degrees of freedom, the walking ability on rough surface （sand paper）, the controllable floatage, etc. This kind of fish-like microrobot is expected for industrial and medical applications.
文摘In this paper,we propose a new prototype model of a micro pump using ICPF(Ionic Conducting Polymer Film)actuator as the servo actuator.This micro pump consists of two active one- way valves that make use of the same ICPF actuator.The overall size of this micro pump prototype is 12mm in diameter and 20mm in length.The actuating mechanism is as follows:(1)The ICPF actuator as the diaphragm is bent into anode side by application of electricity.Then the volume of the pump chamber increases,resulting in the inflow of liquid from the inlet to the chamber.(2)By changing the current direction,the volume of the pump chamber decreases,resulting in the liquid flow from the chamber to the outlet.(3)The ICPF actuator is put on a sine voltage,the micro pump provides liquid flow from the inlet to the outlet continuously.Characteristic of the micro pump is measured.The experimental results indicate that the micro pump has the satisfactory responses.
文摘Organic soft actuators are of special interest in many fields including intravascular neurosurgery. Ion conductive polymer film （ICPF） actuators have been one of the strong candidates. The ICPF investigated here was a cation-exchange membrane （Nation 117, Du Pont）. When a voltage is given between the metal eIectrodes of an ICPF actuator, the ICPF actuator bends in the water due to the motion of Li＋ cations with associated water. In order to increase the freedom of the deformation of the ICPF actuator, structures of independent electrode pairs were proposed. The electrodes were selectively deposited by non-electrokvzed plating including the Pt [（NH3）6]^4＋ deposition process in a [Pt（NH3）6]Cl4 solution and the reduction process in a NaBH4 solution. Here, an elastomer adhesive tape with a fine electrode patterns was used performances were reported in detail. as a mask. The actuators processing conditions and their actuator
