This paper presents a design and fabrication of millimeter scale walking robot using ionic polymer–metal composite (IPMC) actuator as the robot's leg for walking in terrestrial environment. A small scale of new IPMC actuator based on poly-vinylidene fluoride (PVDF)/polyvinyl pyrrolidone (PVP)/polystyrene sulfuric acid (PSSA) blend membrane was fabricated and employed in this study to sustain and drive the walking robot with sufficient force and displacement. The PVDF/PVP/PSSA based IPMC actuator with a polymer mixture ratio of 15/30/55 shows improved performances than Nafion based IPMC actuator. To enhance a traction force of the walking robot and to increase the life time of IPMC actuators, the IPMC strips are covered with a thin PDMS (polydimethylsiloxane) layer. A miniaturized terrestrial walking robot (size: 18 × 11 × 12 mm, weight: 1.3 g) with a light weight robot's body which can support 2-, 4-, or 6-IPMC-leg models was designed and implemented the walking motion on the ground at the maximum speed of 0.58 mm/s.
Miniaturized Terrestrial Walking Robot Using PVDF/PVP/PSSA Based Ionic Polymer–Metal Composite Actuator
Manuscript received August 12, 2015; final manuscript received December 21, 2015; published online March 7, 2016. Assoc. Editor: Robert J. Wood.
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Tien Nguyen, K., Young Ko, S., Park, J., and Park, S. (March 7, 2016). "Miniaturized Terrestrial Walking Robot Using PVDF/PVP/PSSA Based Ionic Polymer–Metal Composite Actuator." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041006. https://doi.org/10.1115/1.4032407
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