US EPA

4374412 

Journal Article 

Miniaturized Terrestrial Walking Robot Using PVDF/PVP/PSSA Based Ionic Polymer-Metal Composite Actuator 

Nguyen, KimT; Ko, SY; Park, JOh; Park, S 

2016 

Yes 

Journal of Mechanisms and Robotics
ISSN: 1942-4302 

8 

4 

10.1115/1.4032407 

WOS:000376096500006 

This paper presents a design and fabrication of millimeter scale walking robot using ionic polymer-metal composite (IPMC) actuator as the robot's leg for walking in terrestrial environment. A small scale of new IPMC actuator based on poly-vinylidene fluoride (PVDF)/polyvinyl pyrrolidone (PVP)/polystyrene sulfuric acid (PSSA) blend membrane was fabricated and employed in this study to sustain and drive the walking robot with sufficient force and displacement. The PVDF/PVP/PSSA based IPMC actuator with a polymer mixture ratio of 15/30/55 shows improved performances than Nafion based IPMC actuator. To enhance a traction force of the walking robot and to increase the life time of IPMC actuators, the IPMC strips are covered with a thin PDMS (polydimethylsiloxane) layer. A miniaturized terrestrial walking robot (size: 18 x 11 x 12 mm, weight: 1.3 g) with a light weight robot's body which can support 2-, 4-, or 6-IPMC-leg models was designed and implemented the walking motion on the ground at the maximum speed of 0.58 mm/s. 

ionic polymer-metal composite actuator; PVDF; PVP; PSSA; terrestrial walking robot