A biomimetic undulatory tadpole robot using ionic polymer–metal composite actuators

Abstract

The development of a wireless undulatory tadpole robot using ionic polymer-metal composite (IPMC) actuators is presented. In order to improve the thrust of the tadpole robot, a biomimetic undulatory motion of the fin tail is implemented. The overall size of the underwater microrobot prototype, shaped as a tadpole, is 96 mm in length, 24 mm in width, and 25 mm in thickness. It has one polymer fin tail driven by the cast IPMC actuator, an internal (wireless) power source, and an embedded controller. The motion of the tadpole microrobot is controlled by changing the frequency and duty ratio of the input voltage. Experimental results show that this technique can accurately control the steering and swimming speed of the proposed underwater tadpole robot.

Ionic electroactive polymer metal composites: Fabricating, modeling, and applications of postsilicon smart devices

“…183. The small structure was realized and tested, verifying its fully controllability acting on the periodic input voltage parameters.…”

Mini and Micro Propulsion for Medical Swimmers

“…This IPMC fish had a similar size with the previous ICPF fish, and its swimming speed was 7 mm/s (Re ~10 2 ). The IPMC films were also used to connect styrene foams to make a snake-like robot [10] and a wireless undulatory tadpole robot [11].…”

An Energetically-Autonomous Robotic Tadpole with Single Membrane Stomach and Tail

“…Among these, ionic polymer metal composites (IPMCs) are capable of significant actuation at low voltages (1-3V) due to induced ionic migration within a polymer layer when a potential is applied across it. Previous work has documented their use in applications such as propulsion in small, soft robots [8] & [15], soft compliant mechanical grippers and stents [9] and as a diaphragm in a micro-pump [3]. Nafion is widely used as the polymer layer of an IPMC due to its high ionic conductivity.…”