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27 March 2018 Six-legged terrestrial walking robot using spatial 2DOF Ionic Polymer-Metal Composite (IPMC) structures (Conference Presentation)
Changsheng Bian, Chao Tang, Zicai Zhu, Zhuoyuan Li, Hualing Chen
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Proceedings Volume 10594, Electroactive Polymer Actuators and Devices (EAPAD) XX; 105941E (2018) https://doi.org/10.1117/12.2296380
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2018, Denver, Colorado, United States
Abstract
This paper presents the design, fabrication, and testing of a novel 6 legged terrestrial walking robot inspired by the movements of an ant, while the ionic polymer-metal composite(IPMC) is used as the leg actuators. This terrestrial walking robot (size: 34 mm × 20mm ×28 mm, weight: 2.43g) is able to move in open air independently. The legs of the robot are made of a spatial two-degree-of-freedom (2DOF) IPMC actuator structure which shows great characteristics in movement and load-carrying capability. The different dimension of the IPMC actuator and the parameters of the leg structure are tested and optimized to cater the demand of different part of the leg structures. The robot is controlled by a microprocessor, an on-board lithium battery is used as the power and the square wave signal is employed to drive the 6 independent leg structures.
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Changsheng Bian, Chao Tang, Zicai Zhu, Zhuoyuan Li, and Hualing Chen "Six-legged terrestrial walking robot using spatial 2DOF Ionic Polymer-Metal Composite (IPMC) structures (Conference Presentation)", Proc. SPIE 10594, Electroactive Polymer Actuators and Devices (EAPAD) XX, 105941E (27 March 2018); https://doi.org/10.1117/12.2296380
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Cited by 2 scholarly publications.
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KEYWORDS
Composites
Polymers
Actuators
Lithium
Polymeric actuators
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