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An Underwater Microrobot with Six Legs Using ICPF Actuators

机译：使用ICPF执行器的六条腿的水下微型摩托车

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摘要

In this paper, an underwater microrobot with six legs using ICPF (ion conductive polymer film) actuators is presented. The underwater microrobot aims to implement multi-DOF of robotic motions in wide applications such as mine-clearing operations, pipeline tracking and surveying deep-ocean. In order to implement this goal, it is important to select a reasonable drive. The ICPF is one of actuator materials. The ICPF has advantages of low voltage driving, low noise and no pollution. The control of floating and diving are available by modulating the gaits of the microrobot. The robot's speed is changed by adjusting the voltage and frequency of the both ends of the robot. Experiments have proved that it is feasible to study the gaits of the microrobot. The development of this system can be a prospect approach for further research in the field of underwater microrobot.
机译：本文介绍了使用ICPF（离子导电聚合物膜）致动器的六个腿的水下微管状。水下微管ot旨在在广泛的应用中实现机器人动作的多-COF，例如排雷操作，管道跟踪和测量深海。为了实现这一目标，选择合理的驱动器非常重要。 ICPF是执行器材料之一。 ICPF具有低电压驱动，低噪音和无污染的优点。通过调制微火球的GAITS，可获得浮动和潜水的控制。通过调整机器人两端的电压和频率来改变机器人的速度。实验证明，研究微毒物的Gaits是可行的。该系统的发展可以是进一步研究水下微毒液领域的前景方法。

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