Fabrication and Characterization of IPMC Actuator for Underwater Micro Robot Propulsor

摘要

The usage of Ionic Polymer-Metal Composite (IPMC) actuator as the propulsor for underwater robot has been worked out by many scientists and researchers. IPMC actuator had been selected due to its advantages such as low energy consumption, low operation noise and ability to work underwater. This paper presents the fabrication and characterization of the IPMC actuator. The IPMC actuator samples had been fabricated using electroless plating for three different thickness and lengths. The characterization was conducted to determine the influence of the thickness, length, input frequency, drive voltage and orientation angle on the tip force and output frequency. The results show that IPMC thickness has significant influence on the tip force generation and lower input frequency would results wider displacement. The recorded results are essential as future reference in developing the propulsor for the underwater robot.