A bionic micro sucker actuated by IPMC

A bionic micro sucker was designed in this study based on the analyses of the structure and behavior of leech suckers. This sucker helps micro medical robot to adhere to the inner wall of the gastrointestinal tract and perform long-term test of the peristalsis. It is actuated by petaloid ionic-polymer metal composite (IPMC), and wrapped by innocuous silicone rubber, which makes it like a foveate plate and fit closely on the inner wall of the gastrointestinal tract. The silicone elastomer structure bends when 3–5V direct voltage is applied to the IPMC, and forms a negative pressure by closely contact with the gastrointestinal tract, thus realizing the initiative adsorption that imitates leech suckers. The preliminary experiment showed that this micro sucker is able to bear a load of 200g successfully when it sucks on a glass surface.