Ionic Conducting Polymer Film Actuator Research Articles

Development of a biomimetic underwater microrobot for a father–son robot system

Conventional underwater intervention tasks are performed by underwater vehicles equipped with rigid multi-link arms. However, the movements of conventional mechanical arms exert reactive force on the vehicle platform due to their enormous bulk. Additionally, they cannot be used for small object recovery. In this paper, an ionic conducting polymer film (ICPF) actuator-based crayfish-inspired microrobot is designed and developed as a son robot for object recovery, which is connected to the amphibious father robot by copper wires. The crayfish-like son robot is used as the mechanical arm of the father---son robot system, which can grasp the small object especially in restricted spaces. The crayfish-inspired son robot actuated by ten ICPF actuators can realize underwater basic motions. The father robot can emit the son robot for object recovery. A proximity sensor is mounted in front of the microrobot between the two ICPF hands to implement the autonomous grasping motion. And we designed a blue LED-based underwater optical communication system to realize the communication between the father robot and the son robot for microrobot recovery. We carried out the experiments to confirm the basic operations of the microrobot, evaluate the performance of the communication system, and verify the blue LED tracking mechanism for microrobot recovery.

Development of an underwater biomimetic microrobot with compact structure and flexible locomotion

Compact structure and flexibility is normally considered as a pair of incompatible characteristics for legged microrobots. Most robots choose complex structure of multi-joint legs to attain the flexibility, while some microrobots have poor flexibility for miniaturization. To attain a microrobot with both compact structure and flexible locomotion, we designed a novel type of biomimetic locomotion employing ionic conducting polymer film (ICPF) actuators as one-DOF legs. We developed several prototype microrobots using this locomotion. In this paper, a microrobot using this biomimetic locomotion, named Walker-3, utilizing six ICPF actuators with two-DOF motion is developed. It is 30 mm in length, 55 mm in width and 8 mm in height (in static state). Experimental results indicate that Walker-3 can attain 6 mm/s of walking speed and 7.1 deg/s of rotating speed and climb on a 30° ascent at a speed of 0.5 mm/s with control signal of 10 V, 0.5 Hz. It is also suitable for uncertain terrain, such as climbing on a stairs less than 2 mm high and striding over a pit less than 5 mm wide. It has better flexibility, balance and load ability than its predecessors. We compared it with some legged microrobots and the result shows a microrobot with this biomimetic locomotion can have both compact structure and multi DOF locomotion.

Development of ICPF actuated underwater microrobots

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.

Development of Underwater Microrobot with Biomimetic Locomotion

Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom) legs. The locomotion includes two ionic conducting polymer film (ICPF) actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with 3-DOF motion is introduced. It is 47 mm in diameter and 8 mm in height (in static state). It has 0.61 g of dried weight. We compared the two microrobot prototypes, and the result shows that Walker-2 has some advantages, such as more flexible moving motion, good balance, less water resistance, more load-carrying ability and so on. We also compared it with some insect-inspired microrobots and some microrobots with 1-DOF legs, and the result shows that a microrobot with this novel type of locomotion has some advantages. Its structure has fewer actuators and joints, a simpler control system and is compact. The ICPF actuator decides that it can be driven by low voltage (less than 5 V) and move in water. A microrobot with this locomotion has powerful applications in biomedical and naval fields.

Development of underwater microrobot with biomimetic locomotion

Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom) legs. The locomotion includes two ionic conducting polymer film (ICPF) actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with 3-DOF motion is introduced. It is 47 mm in diameter and 8 mm in height (in static state). It has 0.61 g of dried weight. We compared the two microrobot prototypes, and the result shows that Walker-2 has some advantages, such as more flexible moving motion, good balance, less water resistance, more load-carrying ability and so on. We also compared it with some insect-inspired microrobots and some microrobots with 1-DOF legs, and the result shows that a microrobot with this novel type of locomotion has some advantages. Its structure has fewer actuators and joints, a simpler control system and is compact. The ICPF actuator decides that it can be driven by low voltage (less than 5 V) and move in water. A microrobot with this locomotion has powerful applications in biomedical and naval fields.

A new type of micropump driven by a low electric voltage

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 oneway valves that make use of the same ICPF actuator. The overall size of this micro pump prototype is 12mm in diameter and 20 mm 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.

A new type of fish-like underwater microrobot

This paper presents a new prototype model of an underwater fish-like microrobot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator to realize swimming motion with three degrees of freedom. A biomimetic fish-like microrobot using ICPF actuator as a propulsion tail fin and a buoyancy adjuster for the swimming structure in water or aqueous medium is developed. The overall size of the underwater prototype fish shaped microrobot 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 microrobot is measured by changing the frequency of input voltage from 0.1-5 Hz in water and the amplitude of input voltage from 0.5-10 V. The experimental results indicate that changing the amplitude and frequency of input voltage can control the swimming speed of proposed underwater microrobot.