A bio-inspired multi degree of freedom actuator based on a novel cylindrical ionic polymer-metal composite material

被引：42

作者：

Kim, Seong J. ^{[2
]}

Pugal, David ^{[1
]}

Wong, Johnson ^{[1
]}

Kim, Kwang J. ^{[1
]}

Yim, Woosoon ^{[3
,4
]}

机构：

[1] Univ Nevada, Reno, NV 89557 USA

[2] Univ Nevada, Dept Mech Engn, Reno, NV 89557 USA

[3] Univ Nevada, Dept Mech Engn, Las Vegas, NV 89154 USA

[4] Univ Nevada, Intelligent Struct & Control Lab, Las Vegas, NV 89154 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2014年 / 62卷 / 01期

基金：

美国国家科学基金会;

关键词：

Ionic polymer; Actuator; IPMC; Finite element method; FEM; ARTIFICIAL MUSCLES; BIOMIMETIC SENSORS; TRANSDUCERS; FABRICATION;

D O I：

10.1016/j.robot.2012.07.015

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work, we explore a promising electroactive polymer (EAP), called ionic polymer-metal composite (IPMC) as a material to use as a multi degree of freedom actuator. Configuration of our interest is a cylindrical IPMC with 2-DOF electromechanical actuation capability. The desired functionality was achieved by fabricating unique inter-digitated electrodes. First, a 3D finite element (FE) model was introduced as a design tool to validate if the concept of cylindrical actuators would work. The FE model is based upon the physical transport processes-field induced migration and diffusion of ions. Second, based upon the FE modeling we fabricated a prototype exhibiting desired electromechanical output. The prototype of cylindrical IPMC has a diameter of 1 mm and a 20 mm length. We have successfully demonstrated that the 2-DOF bending of the fabricated cylindrical IPMCs is feasible. Furthermore, the experimental results have given new insight into the physics that is behind the actuation phenomenon of IPMC. (C) 2012 Elsevier B.V. All rights reserved.

引用

页码：53 / 60

页数：8

共 37 条

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