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A New Type of Underwater Microrobot Driven By Single ICPF Actuator

This paper presents a new type of underwater microrobot. It uses only one piece of ionic conducting polymer films (ICPF) as the actuator. The structure of the microrobot is introduced in detail. The factors influencing the moving mode of the microrobot were analyzed. Theory analysis illustrates the motion mechanism of the microrobot. Through experimental study, we get the results of relationships among moving speed, signal voltage amplitude and signal frequency