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Bioinspired Soft Robot with Incorporated Microelectrodes
Published on: February 28, 2020
A novel soft biomimetic microrobot with two motion attitudes
Liwei Shi1, Shuxiang Guo, Maoxun Li
1Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396, Japan. slw8304@hotmail.com
Sensors (Basel, Switzerland)
|December 11, 2012
Summary
Researchers developed a biomimetic microrobot using ionic polymer metal composite (IPMC) and shape memory alloy (SMA) actuators for versatile underwater tasks. This multi-functional microrobot demonstrates precise control and adaptable locomotion in complex environments.
Area of Science:
- Biomimetic Robotics
- Underwater Engineering
- Materials Science
Background:
- Microrobots are increasingly utilized in biomedical engineering and underwater operations due to their compact size and efficiency.
- Ionic polymer metal composite (IPMC) actuators offer potential for bio-inspired microrobot design, but precise control remains a challenge.
- Adaptability to complex underwater environments necessitates multi-functional microrobots with diverse motion capabilities.
Purpose of the Study:
- To develop an electromechanical model for IPMC actuators to enhance precision in biomimetic underwater microrobots.
- To design and evaluate a multi-functional biomimetic microrobot capable of various locomotion and manipulation tasks.
- To validate the performance of the microrobot prototype through experimental testing of its speed and multi-functional capabilities.
Main Methods:
- Proposed an electromechanical model for IPMC cantilever beams to analyze deformation and actuating force.
- Developed a biomimetic microrobot utilizing eleven IPMC actuators for motion and two shape memory alloy (SMA) actuators for attitude control.
- Implemented two distinct motion attitudes: a lying state for walking, swimming, and grasping, and a standing state for crawling and vertical grasping.
Main Results:
- Experimental tip displacement of IPMC actuators closely matched theoretical values above 1 Hz driving frequency.
- The microrobot prototype achieved maximum speeds of 3.6 mm/s (walking), 9°/s (rotating), and 7.14 mm/s (floating).
- Successful demonstration of obstacle avoidance and swimming capabilities confirmed the microrobot's multi-functionality.
Conclusions:
- The developed electromechanical model provides a basis for designing precise IPMC-based biomimetic components.
- The novel biomimetic microrobot exhibits versatile locomotion and manipulation, adapting to diverse underwater conditions.
- This research advances the development of sophisticated microrobots for complex underwater applications.
