Bending response of an artificial muscle in high-pressure water environments
Bending response of an artificial muscle in high-pressure water environments
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DOI：
10.1117/12.599412
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发表时间：
2005-05
期刊：
影响因子：
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通讯作者：
Y. Nakabo;K. Takagi;T. Mukai;H. Yoshida;K. Asaka
中科院分区：
文献类型：
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作者：
Y. Nakabo;K. Takagi;T. Mukai;H. Yoshida;K. Asaka
离子聚合物-金属复合材料（IPMCs）是一种软致动器，通常被称为“人造肌肉”，它是由全氟磺酸的聚合物凝胶膜化学镀金制成的。这些复合材料通过在两侧电极之间施加低电压而弯曲。执行器是软的，在水中工作。它弯曲无声，反应迅速，寿命长。在我们之前的工作中，已经开发了蛇形游泳机器人和3d - of二维机械手。在这项研究中，我们研究了高压水环境下IPMC人工肌肉的弯曲响应，未来将应用于深海执行器和机器人。与电动马达相比，人造肌肉有一个优势，因为它们不需要与水隔绝，这在高压水环境中很难做到。测量了人造肌肉在30MPa、70MPa和100MPa三种不同压力水平下的弯曲响应。最大压力为100MPa，与地球上最深的海洋（10000米）的压力相同。从实验中发现，与正常水压1Pa时几乎没有差别。我们给出了这些人造肌肉的详细响应结果，包括电流响应和弯曲运动的视频，这些运动是相对于几种不同输入电压、频率和波形的组合。
Ionic Polymer-Metal Composites (IPMCs) are soft actuators, generally referred to as "artificial muscles" which are made out of high polymer gel films of perfluorosulfonic acid chemically plated with gold. These composites bend by applying a low voltage between electrodes on both sides. The actuator is soft and works in water. It bends silently, responds quickly and has a long life. In our previous work, snake-like swimming robots and a 3DOF 2-D manipulator have been developed. In this research we have investigated the bending response of an IPMC artificial muscle in high-pressure water environments, with future applications in deep-sea actuators and robots. The artificial muscles have an advantage over electric motors because they do not need sealing from water, which is difficult in high-pressure water environments. Bending responses of artificial muscles were measured at three different pressure levels, 30MPa, 70MPa and 100MPa. The maximum pressure, 100MPa is the same pressure as the deepest ocean on earth, (10,000m.) From experiments, there was found to be almost no difference with that at normal water pressure of 1Pa. We present detailed results of responses of these artificial muscles including current responses and videos of bending motion with respect to combinations of several different input voltages, frequencies and wave patterns.