IPMC柔性嵌入式柔性末端结构设计及其机械特性测试  

Design and Test of IPMC Flexible Embedded Flexible Terminal

作　　者：王涛[1] 晏洋天 陈胜楠 谢开鑫 宋永石 张霖 WANG Tao;YAN Yangtian;CHEN Shengnan;XIE Kaixin;SONG Yongshi;ZHANG Lin(School of Mechanical and Electrical Engineering,Yangtze Normal University,Chongqing 408100,China;College of Artificial Intelligence,Anhui University of Science and Technology,Huainan Anhui 232001,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]长江师范学院机器人工程学院,重庆408100 [2]安徽理工大学人工智能学院,安徽淮南232001 [3]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2023年第2期45-50,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(52004034);重庆市教委项目(KJ202101458162171)。

摘　　要：离子聚合物金属复合材料(Ionic Polymer Metal Composites,IPMC)是一种多功能新型材料,IPMC具有驱动电压低、形变大、驱动响应速度快、具有类似于生物肌肉比例恒定的特性程度的形变等特点,在仿生技术、微机械等领域具有重要的研究价值和应用潜力。在制备出Pd-IPMC的基础上进行IPMC各项性能的测试研究,并同时在只具有二维导向运动的IPMC的基础上研究具有多自由度导向能力的IPMC硅胶导管应用仿真模拟,即将多个IPMC嵌入到不同截面形状的硅胶管中,通过对各个IPMC施加不同的载荷大小,从而控制硅胶导管的移动方向,以实现多自由度导向能力,并找出最优的硅胶导管截面形态,为设计合理有效的管状致动器奠定理论与技术基础。Ionic polymer metal composites(IPMC)are a new multifunctional material.IPMC has the characteristics of low driving voltage,large deformation,fast driving response and deformation like the constant proportion of biological muscle.It has important research value and application potential in the fields of biomimetic technology and micromachines.In this paper,based on the preparation of PD-IPMC,the performance of IPMC is tested and studied.At the same time,based on the IPMC with only two-dimensional guiding motion,the IPMC silica gel duct with multiple degrees of freedom guiding ability is simulated.That is,multiple IPMC are embedded in silica gel tubes with different cross-section shapes.By applying different loads to each IPMC,the moving direction of the silica gel duct is controlled to achieve the multi degree of freedom guiding ability.The optimal deformation cross-section shape of the silicone tube is found,which lays a theoretical and technical foundation for the design of reasonable and effective tubularactuator.

关 键 词：IPMC 柔性驱动器 自传感驱动器 形变致电 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]