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This article presented the development of a novel polydimethylsiloxane (PDMS) micro pump based on ICPF (Ionic Conducting Polymer Film) actuator toward biomedical system and drug delivery system. ICPF actuator provided an actuating approach for the demand of the miniaturization and low actuation voltages. This micropump is composed of ICPF equipped in a sealed actuating chamber, two check valves which...
In this paper, a novel biomimetic walking grasp-type underwater microrobot, which looked like a crab with eight legs, was presented at first. The intermediate four legs are made of one piece of ICPF (Ionic Conducting Polymer Film) and two pieces of plastic flake used for grasping and releasing objects; the other four legs which are used for walking are made up of two pieces of ICPFs. The structure...
In the paper, we present a novel tortoise-like flexible micro-robot with four legs which can crawl and swim underwater. These legs are actuated by ICPF (Ionic Conducting Polymer Film) which is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. For analyzing the characters of the robot and improving the reliability and feasibility of the...
-In this paper, we summarizes the development of walking microrobots driven by the novel actuators. Then we set up the experimental platform to test the material characteristic of ICPF, and measure the impact of different driving voltage and frequency of square wave pulse on the movement of ICPF actuator. This paper suggests the main methods for setting up and solving the endpoint kinematic trajectory...
This paper presents a new prototype model of an underwater jellyfish-like microrobot utilizing shape memory alloy (SMA) and ionic conducting polymer film (ICPF) as the actuators to realize swimming motion. The overall size of the microrobot is about 75 mm in length, 55 mm in diameter, and the weight is about 6.5 g. The jellyfish-like microrobot has four tentacles. Each of them is composed with a bindiny...
The low actuating voltage and quick bending responses of ICPF (ionic conducting polymer film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of...
Underwater microrobots have powerful applications in invasive medical field and in-pipe industrial field. For underwater microrobots, some characteristics are needed, such as the water proof actuators, simple and compact structure and efficient locomotion. Inspired by the stick-insect, we proposed a biomimetic underwater microrobot actuated by ICPF (Ionic Conducting Polymer Film) actuators. It has...
In this paper, we presents a novel crablike underwater microrobot named crabliker-1. The designed microrobot has eight legs, and each leg is made up of two pieces of ICPF (ionic conducting polymer film). A new analysis method to the gait of the microrobot is proposed. Based on this method, three processes of single leg's movement under different control signals are proposed. The structure and motion...
This paper presents a new type of underwater microrobot. It uses only one piece of ionic conducting polymer films (ICPF) as the actuator. The structure of the microrobot is introduced in detail. The factors influencing the moving mode of the microrobot were analyzed. Theory analysis illustrates the motion mechanism of the microrobot. Through experimental study, we get the results of relationships...
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