IPMC(Ionic polymer-metal composites，离子聚合物金属复合材料)人工肌肉材料有望改变驱动技术的现状，具有巨大的应用前景。本项目在前期研究的基础上，以碳纳米管干粘附仿壁虎脚趾的主动驱动为牵引，研究离子聚合物人工肌肉材料的性能优化方法及仿生应用。拟通过制备多孔IPMC基底为突破，在Nafion基底膜内部形成连续规律可控的孔道，采用离子液体作为工作介质，从而解决现有IPMC对潮湿工作环境的限制；同时结合碳纳米管技术，在Nafion基底上获得碳纳米管-金属复合电极阻止工作介质泄漏，进一步大幅提高IPMC驱动性能；研究获得规律性迁移孔道及阴阳离子在约束管道中的迁移机制，并建立阴、阳离子致动机理下的模型。课题将在性能提升的基础上进行IPMC的仿生应用示范研究，将其应用于人工肌肉驱动的末端带电定向碳纳米管干黏附仿壁虎脚趾，研究成果可望成为三维表面爬壁机器人的核心技术。

Ionic polymer-metal composites（IPMC）artificial muscle material is expected to change the current actuation technology, having a great application potential. On the basis of previous studies, this project aims at the active actuation of gecko-inspired toe of carbon nano-tubes dry adhesives, investigating the performance optimization method of ionic polymer artificial muscle and its bionic application. In order to break through the fabrication of porous IPMC matrix, the consecutive, regular and controlled channels are generated in the Nafion membrane, ionic liquids are adopted as the electrolyte, solving the limitation of IPMC’s humid working environment. Making use of carbon nano-tubes technology, the carbon nano-tubes-metal hybrid electrodes are formed on the both sides of Nafion matrix to prevent the leakage of electrolyte, further significantly improving the actuation performances of IPMC. The formation of regular migration channels and the migration mechanism of anions and cations in the restrained channels are studied, and the model of actuation mechanism of anions and cations is established. The bionic application demonstration based on the improved performance of IPMC will be studied. IPMC is used as the artificial muscle to actuate terminal changed aligned carbon nano-tubes dry adhesives in order to imitate the gecko-inspired toe. The research achievements can provide the key technology for three dimensional surface wall climbing robot.