吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (1): 221-227.doi: 10.13229/j.cnki.jdxbgxb201601033

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基于离子聚合物金属基复合材料线性驱动单元的性能

赵刚, 孙壮志, 郭华君, 隋志阳, 李芳, 赵华兴   

  1. 哈尔滨工程大学 机电工程学院,哈尔滨 150001
  • 收稿日期:2014-06-13 出版日期:2016-01-30 发布日期:2016-01-30
  • 通讯作者: 孙壮志(1987-),男,博士研究生.研究方向:智能驱动器,仿生人工肌肉,水下推进技术.E-mail:sunzhuangzhi@hrbeu.edu.cn
  • 作者简介:赵刚(1956-),男,教授.研究方向:仿生制造.E-mail:zhaogang@hrbeu.edu.cn
  • 基金资助:
    国家自然科学基金项目(50905037); 中央高校基本科研业务费专项项目(HEUCF140713)

Performance of linear actuator unit based on ionic polymer metal composites

ZHAO Gang, SUN Zhuang-zhi, GUO Hua-jun, SUI Zhi-yang, LI Fang, ZHAO Hua-xing   

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
  • Received:2014-06-13 Online:2016-01-30 Published:2016-01-30

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摘要： 为提高输出力,设计了一种新型线性驱动单元,首先通过化学沉积镀的方式制备了IPMC材料,采用表层分割等方法制备线性驱动单元模型,建立了疲劳脱落评价方法,并分析了悬臂梁驱动的打卷现象,最后利用IPMC实验测试平台对方波电压下线性驱动单元性能进行研究。结果表明:控制电压小于4 V,长宽比小于3.5,可减少高电压、大尺寸打卷现象;沿运动方向的输出力随电压增加先增大后减小,4 V时最大输出力为2.15×10-2 N,是悬臂梁输出能力的4倍,而输出位移不随电压变化;垂直运动方向的输出力不随电压变化,与悬臂梁输出能力相当,而位移输出随着电压增加先增大后减小,4 V时最大输出位移为41 mm;疲劳脱落分析结果证实了线性驱动单元选取3~4 V电压驱动,性能最佳。

关键词: 自动控制技术, 离子聚合物复合材料(IPMC), 线性驱动单元, 疲劳脱落, 打卷

Abstract: In order to enhance the output force of Ionic Polymer Metal Composites (IPMC), a novel linear actuator unit was designed. First the method of chemical deposition was used to prepare IPMC materials. Then the surface segmentation method was applied to fabricate the linear actuator unit model. The evaluation technique of fatigue peeling was proposed, and the crispation phenomenon of cantilever beam driving was analyzed. The performance of the linear actuator unit under square wave voltage was researched using an IPMC experiment platform. Results show that the crispation phenomenon can be reduced by controlling the voltage lower than 4 V, and the length to width aspect ratio smaller than 3.5. The output force along the motion direction first increases then decreases as the voltage increases, and the maximum output force is 2.15×10-2 N when the voltage is 4 V, which is four times of the output ability of the cantilever beam. The output displacement keeps constant the does not change with the voltage. Furthermore, the output force along vertical motion direction also does not change with the voltage, which corresponds to the output ability of the cantilever beam. The output displacement also first increases then decreases as the voltage increases, and the maximum output displacement is 41 mm when the voltage is 4 V. The fatigue peeling analysis verifies that the optimal performance of the linear actuator unit is obtained when the voltage ranges from 3 V to 4 V.

Key words: automatic control technology, ionic polymer metal composites(IPMC), linear actuator unit, fatigue peeling, crispation

中图分类号: 

  • TP13
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