생체모방 유영 로봇을 위한 다자유도 IPMC 모듈형 작동기

Abstract

The multiple DOF IPMC modular actuators with selectively grown multiple electrodes were developed to mimic the swimming locomotion of a fish. These were fabricated by combining electro less plating and electroplating techniques capable of patterning the electrodes precisely. The advantages of this fabrication method are that the initial compositing between the polymer and platinum particles can be assured by the chemical reduction method, and the thickness of each electrode can be controlled easily and rapidly by electroplating which could be a method to tailor the stiffness and flexibility of the IPMC. By using the fabricated actuator with the multiple degree of freedom, the oscillatory wave of the flexible membrane modular actuator was generated and a twisting motion was also realized 10 verify the possibility of generating the fish-like motion. Present results show that the multiple DOF IPMC modular actuators can be used to implement the bio-mimetic swimming robot.