【摘要】 采用自行设计的悬臂梁装置对人工肌肉IPMC的电致动响应特性进行测试,研究在直流电压作用下悬臂梁位移与电压的关系及在方波电压作用下位移与电压频率的关系,建立IPMC材料的力学模型;提出IPMC材料悬臂梁电致动挠曲线方程的大变形解法,导出作用于IPMC悬臂梁上的等效弯矩与电压、频率的函数。测试结果表明,在电压为5V时位移达到最大值11.1mm;当电压的频率大于30mHz时,随着频率的增加,悬臂梁的位移逐渐减小,且在30～100mHz时下降迅速。模型计算结果与测试结果最大相对误差在10%以内,证实了模型的准确性。更多还原

【Abstract】 The actuating response characteristics of new artificial muscles ionic polymer metal composite(IPMC) and cantilever model were studied using the designed cantilever beams. The relationship between the displacement of cantilever beams and the voltage stimulated by DC voltage and that between the displacement and voltage frequency stimulated by square-wave voltage were studied. The mechanical model was established based on the test results. The function of voltage,frequency and equivalent moment which imposed on cantilever beams made by IPMC were derived,and large deformation solution for actuating deflection equation of cantilever beams was put forward. The testing results show that the maximum displacement is 11.1 mm when voltage value is 5 V. When voltage frequency is more than 30 mHz,the displacement of cantilever beams decreases gradually with the increase of the frequency,and it decreases dramatically when voltage frequency is 30-100 mHz. Compared with the testing results,the accuracy results of the model is validate,and the maximum error is within 10%.更多还原