Efficiency of Swimming Microrobots Using Ionic Polymer Metal Composite Actuators

In this paper, we present a survey of sh-like propulsion at millimeter scale in order to build high eÆciency swimming microrobots. We begin with a mechanical study of the sh-like propulsion. The mechanical model we used shows that undulatory motions are more eÆcient than oscillatory motions. We applied these theoretical results to the design and the realization of a microrobot propelled by the beating of two ns. Fins are moved by a transducer material called I.P.M.C. (Ionic Polymer Composite Metal). The experimental results allow us to check our theoretical model of the microrobot. Lastly, we propose an improved microrobot which would have a better eÆciency.