Integrated sensing for ionic polymer-metal composite actuators using PVDF thin films
Integrated sensing for ionic polymer-metal composite actuators using PVDF thin films
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DOI：
10.1088/0964-1726/16/2/s10
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发表时间：
2007-04-01
影响因子：
4.1
通讯作者：
Tan, Xiaobo
中科院分区：
文献类型：
--
作者：
Chen, Zheng;Shen, Yantao;Tan, Xiaobo
在微型机器人和生物医学应用中，离子聚合物-金属复合材料（IPMC）致动器需要紧凑的传感方法。本文提出了一种新型的IPMC致动器的传感方案，通过将IPMC和PVDF（聚偏氟乙烯）薄膜之间的绝缘层粘合在一起。适当地设计绝缘层厚度以最小化复合IPMC/PVDF结构的刚度，同时减少IPMC和PVDF之间的电馈通耦合。一个分布式电路模型的开发，以有效地表示电耦合动态，然后在实时补偿提取的真实感测信号。实验结果表明，所开发的IPMC/PVDF结构，连同补偿算法，可以执行有效的，同时驱动和传感。作为第一个应用，这种感觉致动器已成功地用于执行和监测开环显微注射活果蝇胚胎。
Compact sensing methods are desirable for ionic polymer - metal composite (IPMC) actuators in microrobotic and biomedical applications. In this paper a novel sensing scheme for IPMC actuators is proposed by bonding an IPMC and a PVDF ( polyvinylidene fluoride) thin film with an insulating layer in between. The insulating layer thickness is properly designed to minimize the stiffness of the composite IPMC/PVDF structure while reducing the electrical feedthrough coupling between the IPMC and PVDF. A distributed circuit model is developed to effectively represent the electrical coupling dynamics, which is then used in real-time compensation for extraction of the true sensing signal. Experimental results show that the developed IPMC/PVDF structure, together with the compensation algorithm, can perform effective, simultaneous actuation and sensing. As the first application, this sensori-actuator has been successfully used for performing and monitoring open- loop micro-injection of living Drosophila embryos.