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Proceedings Paper

Swing characteristics on tail of tortoise-like flexible micro-robot
Author(s): Lin Nie; Xinglan Zhang; Rong Nie; Desheng Li; Shuxiang Guo
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Paper Abstract

Dynamic effects are very important in improving the design and study of the micro-robot. In the paper, our preliminary work in using ICPF to develop a novel tortoise-like flexible micro-robot with four legs and one tail is reported, which can crawl and swim underwater. ICPF is the abbreviation of Ionic Conducting Polymer gel Film which is a kind of smart film and can give large and fast bending displacement in the presence of a low applied voltage in wet condition. For controlling and analyzing easily the robot, we establish the micro-robot's tail dynamic model by applying Pseudo-Rigid-Body-Dynamic-Model (PRBDM). The model is established by considering the dynamic effect of the robot's tail, which is based on statics and kinematics. Then, the frequency analysis of a micro-robot based on PRBDM is investigated. Based on the PRBDM, the relation between the robot's tail angle displacement and the electrical voltage's frequency ω is theoretically derived and the simulation result for the tail's angle displacement is performed.

Paper Details

Date Published: 1 November 2007
PDF: 6 pages
Proc. SPIE 6423, International Conference on Smart Materials and Nanotechnology in Engineering, 64232A (1 November 2007); doi: 10.1117/12.779850
Show Author Affiliations
Lin Nie, Beijing Univ. of Technology (China)
Xinglan Zhang, Beijing Univ. of Technology (China)
Rong Nie, Zhengzhou Institute of Aeronautical Industry Management (China)
Desheng Li, Beijing Univ. of Technology (China)
Shuxiang Guo, Kagawa Univ. (Japan)

Published in SPIE Proceedings Vol. 6423:
International Conference on Smart Materials and Nanotechnology in Engineering
Shanyi Du; Jinsong Leng; Anand K. Asundi, Editor(s)

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