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Study of piezo-electric elastomer as tactile sensor of a robot

压电弹性体作为机器人触觉传感器的研究

基本信息

批准号：
06555205
负责人：
ADACHI Keiichiro
金额：
$ 3.84万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (B)
财政年份：
1994
资助国家：
日本
起止时间：
1994 至 1995
项目状态：
已结题

项目摘要

Aiming an application to the tactile sensor of a robot, we investigated the preparation and physical properties of piezo-electric elastomers. Three types of piezo-electric elastermers were designed namely, space-charge type (SC), parallel dipole type (PD), and rubber-rod-like polymer blend type (RRB). As an SC type elastomer, we used an emulsion of poly (propylene oxide) (PPO) doped with lithiumperchlorate and telechelic poly (dimethyl siloxane) (PDMS) which cross-links by heating. The morphology change under an electric field was first investigated for uncross-linked system. The migration of charged droplets towards the electrodes resulted in a deviation of the distribution of space charge. Based on this observation an electret composed of PPO/PDMS was prepared by cross-linking of PDMS under a strong electric field. The elastomer exhibited piezoelectricity higher than that of poly (vinylidene fluoride). Complicated piezoelectric sygnals were observed depending on the manner of applying stress indicating that the elastomer can distingush objects on which are touching the elastomer. As a PD type piezo-electric elastomer, we used stirene-isoprene-sryrene triblock copolymers (SIS) in which the isoprene block has a dipole aligned in the direction parallel to the chain contour and the stirene block acts as the cross-link. The results of dielectric measurements of SIS indicate that polarization is achieved by jump of the stirene block chains from one domain to the other. To inverstigate the rate of polarization in an RRB type elastomer, we carried out dielectric measurements on poly (hexyl isocyanate) /polyisoprene/toluene ternary system.

以机器人触觉传感器为应用对象，研究了压电弹性体的制备及其物理性能。设计了空间电荷型(SC)、平行偶极子(PD)和橡胶棒状聚合物共混型(RRB)三种类型的压电弹性体。作为一种SC型弹性体，我们使用了高氯酸锂掺杂的聚环氧丙烷(PPO)和通过加热交联的遥控聚二甲基硅氧烷(PDMS)乳液。首次研究了未交联物系在电场作用下的形态变化。带电液滴向电极的迁移导致了空间电荷分布的偏差。在此基础上，通过强电场下PDMS的交联，制备了由PPO/PDMS组成的驻极体。该弹性体表现出高于聚偏氟乙烯的压电性。根据施加应力的方式，可以观察到复杂的压电体，这表明弹性体可以区分接触到弹性体的物体。作为一种PD型压电弹性体，我们使用了苯乙烯-异戊二烯-苯乙烯三嵌段共聚物(SIS)，其中异戊二烯嵌段具有平行于链轮廓方向的偶极子，而苯乙烯嵌段作为交联剂。SIS的介电测量结果表明，极化是通过苯乙烯区块链从一个区域到另一个区域的跳跃来实现的。为了研究RRB型弹性体的极化速率，我们对聚异氰酸酯/聚异戊二烯/甲苯三元体系进行了介电测量。