Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot

This paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR). BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC), which has 2.5 degrees of freedom. The specific manu...

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Main Author: Martin J.-D. Otis
Format: Article
Language:English
Published: Wiley 2013-01-01
Series:Advances in Materials Science and Engineering
Online Access:http://dx.doi.org/10.1155/2013/683041
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author Martin J.-D. Otis
author_facet Martin J.-D. Otis
author_sort Martin J.-D. Otis
collection DOAJ
description This paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR). BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC), which has 2.5 degrees of freedom. The specific manufacturing process using a laser excimer for one leg in three-dimensional configurations is discussed. Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer. The use of the laser vibrometer shows the linear characteristics between the duty cycle of square wave input and displacement rate of the actuator at multiple frequencies. This linearity is used to design a servo-system in order to reproduce insect tripod walking. As well, BMR current consumption is an important parameter evaluated for each leg. Current passing throughout the IPMC membrane can result in water electrolysis. Four methods are explained for avoiding electrolysis. The hardware test bench for measurements is presented. The purpose of this design is to control a BMR for biomedical goals such as implantation into a human body. Experimental results for the proposed propulsion system are conclusive for this type of bioinspired BMR.
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spelling doaj-art-1177d382d2624c9f81d2fd069196a6f92025-02-03T07:24:54ZengWileyAdvances in Materials Science and Engineering1687-84341687-84422013-01-01201310.1155/2013/683041683041Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobotMartin J.-D. Otis0Applied Sciences Department, REPARTI Center, University of Quebec at Chicoutimi, Chicoutimi, QC, G7H 2B1, CanadaThis paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR). BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC), which has 2.5 degrees of freedom. The specific manufacturing process using a laser excimer for one leg in three-dimensional configurations is discussed. Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer. The use of the laser vibrometer shows the linear characteristics between the duty cycle of square wave input and displacement rate of the actuator at multiple frequencies. This linearity is used to design a servo-system in order to reproduce insect tripod walking. As well, BMR current consumption is an important parameter evaluated for each leg. Current passing throughout the IPMC membrane can result in water electrolysis. Four methods are explained for avoiding electrolysis. The hardware test bench for measurements is presented. The purpose of this design is to control a BMR for biomedical goals such as implantation into a human body. Experimental results for the proposed propulsion system are conclusive for this type of bioinspired BMR.http://dx.doi.org/10.1155/2013/683041
spellingShingle Martin J.-D. Otis
Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
Advances in Materials Science and Engineering
title Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
title_full Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
title_fullStr Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
title_full_unstemmed Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
title_short Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot
title_sort electromechanical characterization and locomotion control of ipmc biomicrorobot
url http://dx.doi.org/10.1155/2013/683041
work_keys_str_mv AT martinjdotis electromechanicalcharacterizationandlocomotioncontrolofipmcbiomicrorobot