کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
411823 679592 2012 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A biomimetic underwater microrobot with multifunctional locomotion
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
A biomimetic underwater microrobot with multifunctional locomotion
چکیده انگلیسی

Underwater microrobots are in urgent demand for applications such as pollution detection and video mapping in limited space. Compact structure, multi-functionality, and flexibility are normally considered incompatible characteristics for underwater microrobots. Nevertheless, to accomplish our objectives, we designed a novel inchworm-inspired biomimetic locomotion prototype with ionic polymer metal composite (IPMC) actuators, and conducted experiments to evaluate its crawling speed on a flat underwater surface. Based on this type of biomimetic locomotion, we introduced a new type of underwater microrobot, using ten IPMC actuators as legs or fingers to implement walking, rotating, floating, and grasping motions. We analysed the walking mechanism of the microrobot and calculated its theoretical walking speed. We then constructed a prototype of the microrobot, and carried out a series of experiments to evaluate its walking and floating speeds. Diving/surfacing experiments were also performed by electrolysing the water around the surfaces of the actuators. The microrobot used six of its actuators to grasp small objects while walking or floating. To implement closed-loop control, we employed three proximity sensors on the microrobot to detect an object or avoid an obstacle while walking.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 60, Issue 12, December 2012, Pages 1472–1483
نویسندگان
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