离子聚合物金属复合材料驱动器在机器人中的应用进展

被引：12

作者：

郭闯强

吴春亚

刘宏

机构：

[1] 哈尔滨工业大学机器人技术与系统国家重点实验室

来源：

机械工程学报 | 2017年 / 53卷 / 09期

基金：

中国博士后科学基金;

关键词：

机器人; 驱动器; 人工肌肉; 离子聚合物-金属复合材料;

D O I：

暂无

中图分类号：

TB381 [智能材料]; TP242 [机器人];

学科分类号：

080501 ; 1405 ; 1111 ;

摘要：

离子聚合物-金属复合材料(Ionic polymer-metal composites,IPMC)作为一种特点突出?性能优良的软体智能材料,具有极高的研究和实用价值,受到了国内外研究人员的广泛关注。基于此,对IPMC驱动器的基本原理、结构组成,及其在机器人领域中的应用现状进行了总结,重点分析新近出现的离子交换薄膜和复合电极材料的特性及其对IPMC性能的影响,概括IPMC驱动器的成膜、镀层和封装等制备工艺的发展现状。深入分析面向数字化控制应用的IPMC驱动器建模方法和控制策略的理论研究进展,并在综合探讨IPMC驱动器所面临的技术挑战基础上,对其在机器人领域的应用前景进行展望。

引用

页码：1 / 13

页数：13

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