Micro inchworm robot using electro-conjugate fluid
Micro inchworm robot using electro-conjugate fluid
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DOI：
10.1016/j.sna.2014.04.032
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发表时间：
2014-09
影响因子：
4.6
通讯作者：
Shohei Ueno;K. Takemura;S. Yokota;K. Edamura
中科院分区：
文献类型：
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作者：
Shohei Ueno;K. Takemura;S. Yokota;K. Edamura
电共轭流体（ECF）是一种在直流高压下产生流动的功能流体。由于它只需要一个微小的电极对在微米级的大小，以产生ECF流动，ECF是一个有前途的微流体压力源。因此，我们以ECF为动力源，实作一微型尺蠖机器人。在这项研究中，首先，我们提出了一个新的概念，微尺蠖机器人驱动的ECF。其次，我们已经设计，制造和特点的微型机器人的每个组成部分。第三，我们已经开发了微型尺蠖机器人，通过使用每个组件。微型机器人的长度、宽度和质量分别约为23 mm、8.5 mm和1.9 g。最后，通过实验观察了微机器人的特性。实验结果表明，该机器人能够在水平亚克力表面上运动，最大速度为5.2mm/s。与以往研制的微型尺蠖机器人相比，该微型机器人在移动速度方面具有上级能力。
An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a flow (ECF flow) when high DC voltage is subjected. Since it only requires a tiny electrode pair in micrometer-scale size in order to generate ECF flow, ECF is a promising micro fluid pressure source. Hence, by using ECF as the power source, we realize a micro inchworm robot. In this study, first, we have proposed the concept of a novel micro inchworm robot driven by the ECF. Second, we have designed, fabricated and characterized each component of the micro robot. Third, we have developed the micro inchworm robot by using each component. The length, width and mass of the micro robot are approximately 23 mm, 8.5 mm and 1.9 g, respectively. Finally, we observed the characteristics of micro robot with conducting an experiment. Experimental results proved that the micro robot could move on a horizontal acrylic surface with maximum speed of 5.2 mm/s. The micro robot has superior ability in migration speed, compared with previously developed micro inchworm robots.