Share Email Print
cover

Proceedings Paper

Tadpole Robot (TadRob) using ionic polymer metal composite (IPMC) actuator
Author(s): Jaehoon Jung; Younghun Tak; Byungkyu Kim; Jong-Oh Park; Seung-Ki Lee; Jungho Pak
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

We have developed the wireless tadpole robot that has simple geometry, driven by low voltage and the undulatory fin-motion using IPMC(Ionic Polymer Metal Composite) actuator. Behavior of TadRob is tested under various frequencies(1~8Hz) to find the correlation between actuator frequency and velocity of the robot. In addition, the robot velocity according to undulation motion and oscillation motion of the fin is compared to find the proper fin-motion to increase the efficiency of the robot. Also, steering capability is tested under variation of duty ratio. Based on experimental results, we can confirm that the velocity of TadRob can be controlled by changing frequency of input voltage and the steering angle can be increased with increasing the duty ratio.

Paper Details

Date Published: 28 July 2003
PDF: 9 pages
Proc. SPIE 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD), (28 July 2003); doi: 10.1117/12.484299
Show Author Affiliations
Jaehoon Jung, Korea Institute of Science and Technology (South Korea)
Younghun Tak, Korea Institute of Science and Technology (South Korea)
Byungkyu Kim, Korea Institute of Science and Technology (South Korea)
Jong-Oh Park, Korea Institute of Science and Technology (South Korea)
Seung-Ki Lee, Dankook Univ. (South Korea)
Jungho Pak, Korea Univ. (South Korea)


Published in SPIE Proceedings Vol. 5051:
Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD)
Yoseph Bar-Cohen, Editor(s)

© SPIE. Terms of Use
Back to Top