Nonlinear Analysis on Movement of Micro-Robot Actuated by ICPF
A novel fish-like flexible micro-robot actuated by ICPF (Ionic Conducting Polymer Film) is presented in the paper. In order to improve the controlling reliability and feasibility of the robot’s movement, we establish the dynamic model of the micro-robot by applying kutta-joukowski theorem and illuminate the nonlinear characteristics on a y direction phase and displacement of the robot’s movement. Some simulation and experiment graphs about the y direction phase and displacement of the robot are performed.
L. Nie et al., "Nonlinear Analysis on Movement of Micro-Robot Actuated by ICPF", Key Engineering Materials, Vol. 500, pp. 250-253, 2012