Underwater Swimming Micro Robot Using IPMC Actuator

Abstract

In the medical field and industry application, fish-like microrobot and micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded. And IPMC (ionic polymer metal composite) can generate large bending motions under a low driving voltage (about 1 V), and it has a good response and soft characteristic. Therefore, we have developed a fish-like S-shape swimming robot, propulsion using IPMC actuator as a body and a tail fin for a micro robot swimming structure. The experimental results indicate that the swimming speed of underwater fish-like microrobot can be controlled by changing the frequency of input voltage. In addition, we put forward a study project, which a wireless biped robot with four legs, which is driven by the IPMC actuator and DSP (Digital Signal Processor).