Swing characteristics on tail of tortoise-like flexible micro-robot

Lin Nie; Xinglan Zhang; Rong Nie; Desheng Li; Shuxiang Guo

doi:10.1117/12.779850

1 November 2007 Swing characteristics on tail of tortoise-like flexible micro-robot

Lin Nie, Xinglan Zhang, Rong Nie, Desheng Li, Shuxiang Guo

Proceedings Volume 6423, International Conference on Smart Materials and Nanotechnology in Engineering; 64232A (2007) https://doi.org/10.1117/12.779850
Event: International Conference on Smart Materials and Nanotechnology in Engineering, 2007, Harbin, China

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.

Citation Download Citation

Lin Nie, Xinglan Zhang, Rong Nie, Desheng Li, and Shuxiang Guo "Swing characteristics on tail of tortoise-like flexible micro-robot", Proc. SPIE 6423, International Conference on Smart Materials and Nanotechnology in Engineering, 64232A (1 November 2007); https://doi.org/10.1117/12.779850

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