离子聚合物-金属复合材料, 制备, 视觉测控系统, 机电特性, PI控制器

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To develop theoretical instructions for application of ionic polymer-metal composite(IPMC) artificial muscle, a nafion-membrance with thickness of 0.5mm was made by sol-gel method. An IPMC actuator being capable of generating 22.5mN of thrust was prepared by plating a couple of platinum electrodes on

dual-surfaces of the membrance.A visual measuring-control system was built for the actuator, and a CCD vision acquisition component used to capture the bending images of the IPMC was employed in the system. The 8-bit field average method and Roberts operator are utilized to smooth and sharpen the images. The gray threshold comparison method is used to extract the IPMC's contour and tip displacement. A driving circuit was designed for the IPMC's motion control. Experiments about the electromechanical-coupling characteristics and control characteristics of the IPMC were made.

It is concluded that the thrust of the IPMC will increases largely as long as its thickness increases. It is also shown that the displacement error of the IPMC tip can be controlled

within ±0.5mm by a closed-loop PI control method.

ionic polymer-metal composite actuator, preparation, measuring-control system, electromechanical coupling characteristic, PI controller