AliReza Shourangiz Haghighi - Department of Mechanical Engineering, JahromUniversity, Jahrom Iran
Iman Zare - Department of Cell and Molecular Biology, Semnan University, Semnan, Iran
AliReza Fallahi - Department of Mechanical Engineering, JahromUniversity, Jahrom Iran
Hamid Reza Naji - 4Department of Electrical and Computer Engineering Graduate University of Advanced Technology, Kerman, Iran

A biomimetic underwater micro-robot with inspiration from motional mechanism with two variants to increase utilizing the actuator function (ICPF) is designed. A micro-robot motional mechanism with inspiration from the inchworm and utilizing ICPF actuators for moving the micro-robot to the surface of water, and jellyfish for sampling from the structures according to the difference of the density in the water, is used from skimmer at the moment. This micro-robot is the first vehicle with small scale which beside sampling from the surface of water in limited places, has the ability of moving under the water. It also is designed in a way that skimmer can be easily installable on most o micro-robots. The mechanisms and the speed of moving of the micro-robot are calculated theoretically. At last step a primary pattern is made and a collection of investigations for evaluating the motion and the speed of floating motion are done. The other six actuators are utilized to implement grasping.

Bio-inspired robots; Mechatronic; Floating collector; Micro ICPF actuators; Skimmer; Control