Abstract
There has been a great demand, in the medical field and in industrial applications, for a novel micro biped robot with multiple degrees of freedom that can swim smoothly in water or in aqueous medium. The fish-like micro-robot studied is a type of miniature device that is installed with sensing and actuating elements. This article describes the new structure and motion mechanism of a hybrid type of underwater micro-robot using an ion-conducting polymer film (ICPF) actuator, and discusses the swimming and floating characteristics of the micro-robot in water, measured by changing the voltage frequency and the amplitude of the input voltage. Results indicate that the swimming speed of the proposed underwater micro-robot can be controlled by changing the frequency of the input voltage, and the direction (upward or downward) can be manipulated by changing the frequency of the electric current applied and the amplitude of the voltage.
Highlights
Intracavity intervention is expected to become increasingly popular in the medical practice, both for diagnosis and for surgery
The fish-like microrobot is a type of miniature device that is installed with sensing and actuating elements and can swim smoothly in water or in aqueous medium, which can be used for in-pipe inspection and micro-surgery of blood vessel
We aim to develop a type of fish-like micro-robot that can swim smoothly in water or in aqueous medium
Summary
Intracavity intervention is expected to become increasingly popular in the medical practice, both for diagnosis and for surgery. There has been a great demand, in the medical field and in industrial applications, for a new type of fish-like micro-robot that can swim smoothly in water or in aqueous medium (Dario 1988; Special session on Biorobotics 1990; Maddock 1994). We aim to develop a type of fish-like micro-robot that can swim smoothly in water or in aqueous medium. It has the characteristics of flexibility, is driven by a low voltage, and shows good response and safety in the body. Biomimetic fish-like propulsion using an ion-conducting polymer film (ICPF) actuator as a propulsion tail fin for an underwater micro-robot swimming structure in water or aqueous medium is developed.
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