• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (9): 1-13.doi: 10.3901/JME.2017.09.001

• •    下一篇

扫码分享

离子聚合物金属复合材料驱动器在机器人中的 应用进展*

郭闯强, 吴春亚, 刘宏   

  1. 哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150080
  • 出版日期:2017-05-05 发布日期:2017-05-05
  • 作者简介:

    郭闯强，男，1982年出生，助理研究员。主要研究方向为柔体机器人技术。

    E-mail：chuangqiang.guo@hit.edu.cn

    吴春亚(通信作者)，女，1982年出生，副教授。主要研究方向为材料表面相容性技术。

    E-mail：chunya.wu@hit.edu.cn

  • 基金资助:
    * 国家自然科学基金(51505098)、中国博士后科学基金(2015M571403)、中央高校基本科研业务费专项资金(HIT; NSRIF.2015059)和机器人技术与系统国家重点实验室开放研究(SKLRS-2015-MS-04)资助项目; 20160602收到初稿，20161203收到修改稿;

Application Progress of Ionic Polymer-metal Composites Actuator in Robots

GUO Chuangqiang, WU Chunya, LIU Hong   

  1. State Key Laboratory of Robotics and System， Harbin Institute of Technology， Harbin 150080
  • Online:2017-05-05 Published:2017-05-05

PDF

844

摘要：

离子聚合物-金属复合材料(Ionic polymer-metal composites， IPMC)作为一种特点突出?性能优良的软体智能材料，具有极高的研究和实用价值，受到了国内外研究人员的广泛关注。基于此，对IPMC驱动器的基本原理、结构组成，及其在机器人领域中的应用现状进行了总结，重点分析新近出现的离子交换薄膜和复合电极材料的特性及其对IPMC性能的影响，概括IPMC驱动器的成膜、镀层和封装等制备工艺的发展现状。深入分析面向数字化控制应用的IPMC驱动器建模方法和控制策略的理论研究进展，并在综合探讨IPMC驱动器所面临的技术挑战基础上，对其在机器人领域的应用前景进行展望。

关键词: 离子聚合物-金属复合材料, 驱动器, 人工肌肉, 机器人

Abstract:

：As a typical class of soft smart material, ionic polymer-metal composites (IPMC) with specific features and excellent performance have attracted widespread attentions from the researchers. The topics of IPMC are full of theoretical interest and also of great relevance to applications. The fundamental principle and the structure of IPMC actuators, together with their applications in the robotic systems are reviewed briefly. The special stress is laid on the analysis of the newly emerging ionic polymer membranes and the composite electrode materials, as well as the effect of their characteristics on the performance of IPMC actuators. The recent development in the fabrication technologies of IPMC actuators, including film formation, surface electroding process and encapsulation, is also summarized. Furthermore, the progress of theoretical researches about the modeling approaches and controlling strategies for IPMC actuators, which are expected to be applied in the digital control, are analyzed. The technical challenges for the performance increase of IPMC actuators are pointed out, and the application prospect of IPMC actuators in robotic system on the basis of the available information is presented.

Key words: actuator, artificial muscles, ionic polymer-metal composites, robot

版权所有 © 2019 《机械工程学报》编辑部 | 京ICP备05055788号-30