Nonlinear Analysis on Movement of Micro-Robot Actuated by ICPF

Lin Nie; Xing Lan Zhang; Rong Nie

doi:10.4028/www.scientific.net/KEM.500.250

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 500Nonlinear Analysis on Movement of Micro-Robot...

Nonlinear Analysis on Movement of Micro-Robot Actuated by ICPF

Abstract:

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.

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Periodical:

Key Engineering Materials (Volume 500)

Pages:

250-253

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.500.250

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Online since:

January 2012

Authors:

Lin Nie, Xing Lan Zhang, Rong Nie

Keywords:

Ionic Conducting Polymer Film (ICPF), Micro-Robot, Nonlinear, Phase

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