A fish microrobot using ICPF actuator

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in the body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator. Biomimetic fish-like propulsion using an ICPF actuator as a propulsion tail fin for a microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of fins. The characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of the proposed underwater microrobot can be controlled by changing the frequency of input voltage.