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ICPF research and underwater micro robot crawling the application

Author: YanXiaoNan
Tutor: GuoShuXiang
School: Harbin Engineering University
Course: Pattern Recognition and Intelligent Systems
Keywords: ICPF Capacitive Underwater micro robot crawling Drive control system Gait
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 94
Quote: 1
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Abstract


This paper studies the performance of polymer materials ICPF underwater bionic micro- robot application . ICPF material has good flexibility, low driving voltage , fast response speed characteristics. ICPF material used as a drive underwater micro robot , with no pollution , no noise, concealed, can not easily be found , etc., in the marine environment, exploration, seabed resources development and military fields have a wide range of applications. The main contents of this paper include the following aspects : Firstly, the material on ICPF underwater research status and application of micro- robotics are summarized and analyzed . Then introduced ICPF structure of the material composition of the material is given ICPF main preparation process , as well as several popular ICPF performance improvements to improve preparation process , interacting with a given method of coating metal . Secondly, the paper focuses on the performance of ICPF materials studied , first discussed the actuation principle ICPF material presents a microscopic water molecules cations actuating management ; ICPF size of the material and the impact on the performance of the analysis ; established ICPF testing material properties test platform , the end of the displacement characteristics of the material , load capacity characteristics , the capacitive characteristics of the experimental testing ; ICPF material summarized several models , and the capacitive experimental basis , electrification is proposed based on material characteristics ICPF electrical model , combined with experimental data and simulation models are compared and analyzed , confirming the correctness of the model . Finally, ICPF material properties on the basis of research , through multi-legged reptiles underwater observation of biological imitation, designed a new type of underwater micro- crawling robot , and its drive control system has been designed ; and research a multi-legged robot gait program statically stable gait analysis to achieve the principles and design of the robot translational turning point gait gait and coordinated control program , the last two sets of experimentally verified the feasibility .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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