Author:
Tokida Kenichiro, ,Yamaguchi Akihiro,Takemura Kenjiro,Yokota Shinichi,Edamura Kazuya, , ,
Abstract
Electro-Conjugate Fluid (ECF) is a kind of functional fluid that produces a jet flow (ECF jet) when subjected to high DC voltage. A strong ECF jet is known to be generated in a nonuniform electric field, for example, a field with a pair of needle and ring electrodes. This study introduces the ECF jet in developing a novel bio-inspired robot. We first propose the concept of a robot driven by an ECF jet. The robot is mainly composed of ECF jet generators (a micro fluid pressure source), fiber-reinforced rubber actuators, a built-in spring actuator, and an ECF tank. We next investigate the characteristics of the ECF jet generator, the fiberreinforced rubber actuator, and the built-in spring actuator. As a result, we confirmed that the maximum pressure and flow rate of the ECF jet generator are 32.0 kPa and 27.0 ml/min, respectively, and that the actuators could be driven by the ECF jet. We then developed a bio-inspired robot and demonstrated that the robot could move in a 14 mm diameter acrylic half pipe with 0.6 mm/s, and in a 14 mm diameter acrylic pipe with 0.5 mm/s. The robot is 300 mm long with a mass of 26 g.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference24 articles.
1. N. Saga, T. Naksmura, and S. Ueda, “Study on Peristaltic Crawling Robot Using Artificial Muscle Actuator,” Proc. of the 2003 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 679-684, 2003.
2. T. Idogaki, H. Kanayama, N. Ohya, H. Suzuki, and T. Hattori, “Characteristics of Piezoelectric Locomotive Mechanism for an In-Pipe Micro Inspection Machine,” Sixth Int. Symposium on Micro Machine and Human Science, pp. 193-198, 1995.
3. Y. P. Lee, B. Kim, M. G. Lee, and J.-O. Park, “Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot Using Shape Memory Alloy,” Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation, pp. 5007-5012, 2004.
4. T. Aoki and S. Hirose, “Development of Slime Robot Using Bridle Bellows,” J. of Robotics and Mechatronics, Vol.16, No.3, pp. 286-292, 2004.
5. K. Yoshida, K. Takahashi, and S. Yokota, “In-pipe Mobile Micromachine Using Fluid Power Adaptable to Pipe Diameters,” J. of Robotics and Mechatronics, Vol.11, No.5, pp. 417-422, 1999.
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献