Driving mechanism of a new jellyfish-like microrobot

In recent years, many kinds of underwater microrobots have been developed. Some of them are multi-DOF and flexible. In this paper, we present a novel type of underwater jellyfish-like microrobot, mimicking the prototype of hydrozoan medusae. Its anatomic configuration is analyzed and a simple drivin...

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Bibliographic Details
Main Authors: Xiu Fen Ye, Ya Nan Hu, Shu Xiang Guo, Yu Dong Su
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Animals
Automation
Conducting materials
Contracts
Mechatronics
Polymer films
Propulsion
Shape memory alloys
Space technology
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Summary:In recent years, many kinds of underwater microrobots have been developed. Some of them are multi-DOF and flexible. In this paper, we present a novel type of underwater jellyfish-like microrobot, mimicking the prototype of hydrozoan medusae. Its anatomic configuration is analyzed and a simple driving device is advanced to simulate the jet propulsion of jellyfish. The microrobot is driven by a SMA (shape memory alloy) coil spring and two ICPF (Ionic Conducting Polymer Film) actuators. The main driving mechanism is a wooden quadrangular framework controlled by the SMA actuator and two ICPF actuators help to change the swimming direction. Experiments are given and the morphological parameters and the thrust force of the jellyfish-like microrobot are calculated. The theoretical parameters and actual parameters are also compared for further improvement.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2008.4798818