自律型IPMCロボットの研究

抄録

Ionic Polymer Metal Composite (IPMC) is planar and it is necessary to apply AC voltage to both sides of the IPMC in order to drive it repeatedly. Since the generated force is small, the interference caused by the wiring, critically limits the motion. In this study, I consider the following two issues separately in order to drive an independent IPMC robot integrated with a battery. First, to make it wireless, a magnesium battery is installed. Second, a spiral IPMC is used to drive the robot only by the battery characteristics. As a result, I confirmed that the spiral IPMC can be driven only by the characteristics of the magnesium battery. In the future, I will design a structure that enables even greater motion, and fabricate a self-contained IPMC robot that incorporates the above elements.