A bio-inspired robot using electro-conjugate fluid

Kenichiro Tokida, Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Contribution to journalArticle

Abstract

Electro-Conjugate Fluid (ECF) is a kind of functional fluid that produces a jet flow (ECF jet) when subjected to high DC voltage. A strong ECF jet is known to be generated in a nonuniform electric field, for example, a field with a pair of needle and ring electrodes. This study introduces the ECF jet in developing a novel bio-inspired robot. We first propose the concept of a robot driven by an ECF jet. The robot is mainly composed of ECF jet generators (a micro fluid pressure source), fiber-reinforced rubber actuators, a built-in spring actuator, and an ECF tank. We next investigate the characteristics of the ECF jet generator, the fiber reinforced rubber actuator, and the built-in spring actuator. As a result, we confirmed that the maximum pressure and flow rate of the ECF jet generator are 32.0 kPa and 27.0 ml/min, respectively, and that the actuators could be driven by the ECF jet. We then developed a bio-inspired robot and demonstrated that the robot could move in a 14 mm diameter acrylic half pipe with 0.6 mm/s, and in a 14 mm diameter acrylic pipe with 0.5 mm/s. The robot is 300 mm long with a mass of 26 g.

Original languageEnglish
Pages (from-to)16-24
Number of pages9
JournalJournal of Robotics and Mechatronics
Volume25
Issue number1
Publication statusPublished - 2013

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Robots
Fluids
Actuators
Acrylics
Rubber
Pipe
Fibers
Needles
Electric fields
Flow rate
Electrodes
Electric potential

Keywords

  • Bio-inspired robot
  • Electro-conjugate fluid
  • Functional fluid
  • Soft actuator

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science(all)

Cite this

Tokida, K., Yamaguchi, A., Takemura, K., Yokota, S., & Edamura, K. (2013). A bio-inspired robot using electro-conjugate fluid. Journal of Robotics and Mechatronics, 25(1), 16-24.

A bio-inspired robot using electro-conjugate fluid. / Tokida, Kenichiro; Yamaguchi, Akihiro; Takemura, Kenjiro; Yokota, Shinichi; Edamura, Kazuya.

In: Journal of Robotics and Mechatronics, Vol. 25, No. 1, 2013, p. 16-24.

Research output: Contribution to journalArticle

Tokida, K, Yamaguchi, A, Takemura, K, Yokota, S & Edamura, K 2013, 'A bio-inspired robot using electro-conjugate fluid', Journal of Robotics and Mechatronics, vol. 25, no. 1, pp. 16-24.
Tokida, Kenichiro ; Yamaguchi, Akihiro ; Takemura, Kenjiro ; Yokota, Shinichi ; Edamura, Kazuya. / A bio-inspired robot using electro-conjugate fluid. In: Journal of Robotics and Mechatronics. 2013 ; Vol. 25, No. 1. pp. 16-24.
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