6 November 2006 Design and analysis on the dynamics of ICPF actuated tortoise-like flexible micro-robot
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In the paper, we present a novel tortoise-like flexible micro-robot with four legs which can crawl and swim underwater. These legs are actuated by ICPF (Ionic Conducting Polymer Film) which is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. For improving the robot's reliability and feasibility, we establish the micro-robot's dynamic model by applying Pseudo-Rigid-Body-Dynamic-Model (PRBDM). The model is established by considering the dynamic effect of the robot, 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 structure parameters and its natural frequency is theoretically derived and a numerical computation of the robot is performed.
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Lin Nie, Lin Nie, Desheng Li, Desheng Li, Shuxiang Guo, Shuxiang Guo, } "Design and analysis on the dynamics of ICPF actuated tortoise-like flexible micro-robot", Proc. SPIE 6357, Sixth International Symposium on Instrumentation and Control Technology: Signal Analysis, Measurement Theory, Photo-Electronic Technology, and Artificial Intelligence, 635757 (6 November 2006); doi: 10.1117/12.717525; https://doi.org/10.1117/12.717525

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