Research Of ICPF With The Application In Underwater Crawling Microrobot

In this paper, we present the performance and the application in the field of underwater bionic micro robot of the ICPF which is a kind of novel macromolecule material. The materials of ICPF which is soft and bends silently, responds quickly, work underwater and has the low driving voltage, simple and reliable structure compare to the traditional micro motors, and the micro robot has a promising development trend and application potential in the ocean circumstance explore, seabed resource explore and future military because of the features of non-pollution, non-noise, high concealment, as well as not easy to be detected.First, this paper summarizes the research and application in the field of underwater bionic micro robot of ICPF. Then, we introduces the structure of ICPF. The preparation process of the ICPF is given, and also some kinds of modified preparation process for improving the quality of ICPF is introduced, the theory of plating metal analysis arrangement for the first time.Then, this paper researches the characteristics of ICPF, First the drive principle is researched, the bend theory of the cation unite the moisture inside of the ICPF is given for the first time. The influence of different geometrical shape of ICPF on sway of ICPF in water is analyzed. And then we set up the experiment platform to test the material nature of ICPF, including the end displacement character, load ability character and the material's capacitance character. Then we summarized the model of ICPF, based on the capacitance character experiment, a new kind of electric model based on capacitance character, then we use Matlab testing the model, the result shows the model is suitable.At last, based on the character of the ICPF, combined with the bionic theory, and thronging observed and imitated of the underwater crawling biologic, a kind of underwater crawling micro robot is designed, the drive control system is also designed, then we analyze the gait principle of quiescent stable condition, advance the coordinated control method of walking micro robot to carry out the movement of translation and rotation, and experimental result indicate that the gait above is feasible.