Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation.
Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation.
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用于机器人辅助操纵的嵌入式方形杆状离子聚合物金属复合材料的主动管状执行器
DOI：
10.1155/2018/4031705
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发表时间：
2018
影响因子：
2.2
通讯作者：
Chen H
中科院分区：
文献类型：
--
作者：
Wang Y;Liu J;Zhu D;Chen H
本文报道了一种新的技术，涉及离子聚合物-金属复合材料（IPMC-）嵌入式主动管的设计，制造和表征，它可以实现多自由度（MODF）弯曲运动在许多应用中，如机械手和主动导管。然而，传统的条形IPMC致动器仅限于能够产生一维弯曲运动。因此，在本文中，我们试图开发一种方法，涉及到成型或集成到一个软硅橡胶结构的杆形IPMC致动器，以创建一个主动管。我们修改了Nafion溶液浇铸方法，并开发了一个完整的序列的制造过程中，棒状IPMC与方形横截面和四个绝缘电极的表面上。使用通过3D打印技术制造的模具在合适的温度下固化硅凝胶以形成柔性管。通过向每个IPMC杆形致动器的四个电极施加差分电压，可以产生活动管的多自由度弯曲运动。实验结果表明，这种IPMC嵌入管设计可以用于开发机器人辅助操作。
This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation.
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影响因子：
4.6
作者：
Kim, KJ;Shahinpoor, M
通讯作者：
Shahinpoor, M
影响因子：
4.6
作者：
Fang, Bo-Kai;Lin, Chou-Ching K.;Ju, Ming-Shaung
通讯作者：
Ju, Ming-Shaung
离子聚合物执行器具有控制形状的碳纳米管/Nafion纳米复合电极的高机电响应。
影响因子：
19
作者：
Liu, Sheng;Liu, Yang;Cebeci, Huelya;de Villoria, Roberto Guzman;Lin, Jun-Hong;Wardle, Brian L.;Zhang, Q. M.
通讯作者：
Zhang, Q. M.
影响因子：
4.6
作者：
Nguyen, Thanh Tung;Goo, Nam Seo;Park, Seungbae
通讯作者：
Park, Seungbae
影响因子：
4.1
作者：
Li, Song-Lin;Kim, Woo-Young;Oh, Il-Kwon
通讯作者：
Oh, Il-Kwon