Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
Author
Source
Advances in Materials Science and Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-10
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Engineering Sciences and Information Technology
Abstract EN
This paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR).
BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC), which has 2.5 degrees of freedom.
The specific manufacturing process using a laser excimer for one leg in three-dimensional configurations is discussed.
Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer.
The use of the laser vibrometer shows the linear characteristics between the duty cycle of square wave input and displacement rate of the actuator at multiple frequencies.
This linearity is used to design a servo-system in order to reproduce insect tripod walking.
As well, BMR current consumption is an important parameter evaluated for each leg.
Current passing throughout the IPMC membrane can result in water electrolysis.
Four methods are explained for avoiding electrolysis.
The hardware test bench for measurements is presented.
The purpose of this design is to control a BMR for biomedical goals such as implantation into a human body.
Experimental results for the proposed propulsion system are conclusive for this type of bioinspired BMR.
American Psychological Association (APA)
Otis, Martin J.-D.. 2013. Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot. Advances in Materials Science and Engineering،Vol. 2013, no. 2013, pp.1-17.
https://search.emarefa.net/detail/BIM-490217
Modern Language Association (MLA)
Otis, Martin J.-D.. Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot. Advances in Materials Science and Engineering No. 2013 (2013), pp.1-17.
https://search.emarefa.net/detail/BIM-490217
American Medical Association (AMA)
Otis, Martin J.-D.. Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot. Advances in Materials Science and Engineering. 2013. Vol. 2013, no. 2013, pp.1-17.
https://search.emarefa.net/detail/BIM-490217
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-490217