Tham khảo tài liệu 'advances in biomimetics part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Development and Experiments of a Bio-inspired Underwater Microrobot with 8 Legs 517 Frequency Hz Fig. 15. Theoretical walking speed 10 V 5. Prototype microrobot and experiments Prototype eight-legged microrobot Figure 16 shows the prototype of the eight-legged microrobot. It has eight actuators fixed on a film body with wood clips. The control signals are transmitted by enamel-covered wires 300 mm long with a copper diameter of mm. The wires are soft enough that the resistance can be ignored. Fig. 16. Prototype eight-legged underwater microrobot 518 Advances in Biomimetics Walking experiment on underwater flat surface To evaluate walking locomotion we carried out an experiment on an underwater plastic surface. We recorded the times required to walk a distance of 50 mm using different applied signal voltages and frequencies. The experiment was repeated 10 times for every set of control signals to determine the average speed on the flat surface. The experimental results described in Figure 17 show that the walking speed was nearly proportional to the input voltage and a top speed of mm s was obtained with a control signal of 10 V and 5 Hz. We compared the experimental value with the theoretical value with a control signal of 10 V as shown in Figure 18. From the comparison we could see that the experimental results approached the theoretical results very well. The displacement of the IPMC actuator would be less in real applications due to slippage and short response time at high frequencies. Therefore some differences between the theoretical and experimental results still exist. Rotating experiment on underwater flat surface We also investigated the rotating motion on the same underwater plastic surface. We recorded the times for rotating through 90 under the influence of different voltages and frequencies of the control signal and calculated the average angular velocity for 10 repetitions of the same experiment. The experimental results described
