Bio-inspired underwater micro-robots with inspire from dynamic variant spaces of animals utilizing of the ICPF (Ionic Conducting Polymer Films) actuator as a propulsion is developed recently. These micro-robots with multi Degrees of Freedom cause them walk smoothly in underwater environments have urgently been demanded with variety kinds of application such as medical, detection, and industry. In this micro-robot with inspire from the motional mechanism by ICPF actuators of an inchworm motion for grasping to the OOZE, and also the movement mechanism of jellyfish for sampling from the surface of the water in limited places according to the difference of the density of the water are used at the moment. We calculated and simulated the mechanism and walking speed of the micro-robot. A preliminary pattern was designed and also a collection of the research for appraisal the locomotion and the floating speed motion were done in detail. Employing ICPF as micro actuators to fabricate a four-finger gripper and six micro actuators were used to implement grasping.
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