Characterization and Parametric Study of Multilayered IPMC Actuator
Characterization and Parametric Study of Multilayered IPMC Actuator
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多层IPMC执行器的表征和参数化研究
DOI：
10.4028/www.scientific.net/amr.983.161
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Z. Samad
中科院分区：
文献类型：
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作者：
M. F. Shaari;Z. Samad
离子聚合物-金属复合材料（IPMC）已被用作驱动器在几个机器人的应用，如驱动器的运动和夹持器的末端执行器。然而，由于其驱动力通常小于10 gf（取决于尺寸），应用仅限于小型机器人。因此，在本研究中，我们提出了IPMC致动器的多层结构并研究了致动力增量。此外，还进行了参数研究，以确定力重量比和弯曲位移。在相同厚度下，将所得结果与单层IPMC驱动器进行了比较。结果表明，IPMC层的增加使驱动力增加了30%，两层和三层的40%。此外，利用多层IPMC降低了较厚IPMC的刚度约束。这一发现将有助于设计阶段的小型机器人，需要更高的驱动力在一个更大的弯曲位移。
Ionic Polymer-Metal Composite (IPMC) has been utilized as an actuator in several robotic applications such as the actuator for its locomotion and gripper of the end effector. However, due to its low actuation force which is normally less than 10gf (depend on dimension), the application has been limited to small scale robot. Hence, in this research we propose a multilayer structure of IPMC actuator and investigate the actuation force increment. Besides, parametric study was also conducted to determine the force-to-weight ratio and the bending displacement. The obtained results had been compared to single ply IPMC actuator at the same thickness. The result shows that the increment of IPMC layer had increased the actuating force up to 30% for two layers and 40% for three layers. In addition, utilizing multilayered IPMC had reduced the stiffness constraint for thicker IPMC. This finding would be useful in designing stage of a small scale robot that require higher actuation force at a higher bending displacement.
使用离子聚合物金属复合材料制造人造肌肉的简单方法。
DOI：
--
发表时间：
2006
期刊：
First Internatioanl conference on Industrial and Information Systems, Sri, Lanka, August, 2006
影响因子：
--
作者：
D.M.G.Preethichandra;A.K.Thakur;W.Takashima;K.Kaneto
通讯作者：
K.Kaneto