NDLI: Characteristics evaluation of a biomimetic microrobot for a Father-son Underwater Intervention Robotic system

Content Provider	IEEE Xplore Digital Library
Author	Chunfeng Yue Shuxiang Guo Maoxun Li Yaxin Li
Copyright Year	2015
Description	Author affiliation: Sch. of Life Sci. & Technol., Beijing Inst. of Technol., Beijing, China (Shuxiang Guo) \|\| Grad. Sch. of Eng., Kagawa Univ., Takamatsu, Japan (Chunfeng Yue; Maoxun Li; Yaxin Li)
Abstract	To realize the underwater intervention, a Father-son Underwater Intervention Robotic System (FUIRS) is proposed in our laboratory. The FUIRS employs a novel biomimetic microrobot to realize underwater manipulation tasks. The main work of this paper is to describe the biomimetic microrobot which is inspired by an octopus. The microrobot is mainly composed of body and arm. We use IPMC to fabricate the arms. To investigate the most suitable arm shape, three commonly used arms were designed, i.e., regular rectangle shape, human finger shape and tapered shape. After analyzing the force and deflection features, the human finger shape arm was selected to be installed on the microrobot. The robot body is fabricated by the 3D printer. A micro proximity sensor was installed on it as the eyes. To enhance the payload of the microrobot, a novel buoyancy adjustment method was proposed which can provide 11.8mN additional buoyancy force. Finally, a series of underwater manipulation experiments were carried out and the results indicated that the biomimetic microrobot can realize underwater manipulation for the targets with different shape and size objects successfully.
Starting Page	171
Ending Page	176
File Size	686600
Page Count	6
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353370
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Shape Force Robot sensing systems Buoyancy Fingers Biomimetic microrobot Underwater manipulation Ionic polymer metal composite (IPMC) Father-son Underwater Intervention Robotic System
Content Type	Text
Resource Type	Article

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