Movement analysis of grasp-type underwater microrobot

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 and motion mechanism of the microrobot are given in the paper. And a new method to grasp object through the intermediate four legs of the microrobot is proposed. The dynamic analysis of the grasp-leg during the process of the grasping is also proposed. The movement of the grasp-leg under different control signals by changing the frequency and amplitude of the input single is discussed. At last, the experiments of grasping movement of the microrobot are carried out.

[1]  Shuxiang Guo,et al.  Hybrid type of underwater micro biped robot with walking and swimming motions , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[2]  Shuxiang Guo,et al.  Development of an artificial fish microrobot , 1999, MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478).

[3]  Wei Zhang,et al.  The Development of a New Kind of Underwater Walking Robot , 2007 .

[4]  Shuxiang Guo,et al.  Developments of two novel types of underwater crawling microrobots , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[5]  Shuxiang Guo,et al.  Development of underwater microrobot using ICPF actuator , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[6]  Kinji Asaka,et al.  Biped walking of passive dynamic walker with IPMC linear actuator , 2003, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[7]  Shuxiang Guo,et al.  A Novel Underwater Crablike Microrobot , 2006, 2006 International Conference on Mechatronics and Automation.

[8]  J. O. Simpson,et al.  Ionic polymer-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles - a review , 1998 .

[9]  D. Segalman,et al.  Theory and application of electrically controlled polymeric gels , 1992 .

[10]  Mohsen Shahinpoor,et al.  Biomimetic robotic propulsion using polymeric artificial muscles , 1997, Proceedings of International Conference on Robotics and Automation.

[11]  Y. Osada,et al.  A polymer gel with electrically driven motility , 1992, Nature.

[12]  Fumihito Arai,et al.  Steering mechanism of underwater micro mobile robot , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.