Fabrication of ionic polymer-metal composites (IPMCs) and robot design

doi:10.1007/s11465-009-0046-5

Front Mech Eng Chin

2009, Vol. 4

Issue (3) : 332-338 https://doi.org/10.1007/s11465-009-0046-5

RESEARCH ARTICLE

Fabrication of ionic polymer-metal composites (IPMCs) and robot design

Hanmin PENG(

), Qingjun Ding, Huafeng LI

Precision Driving Laboratory in Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

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Abstract

This paper describes a method for preliminary manufacturing experiments on a type of smart materials—ionic polymer-metal composites (IPMCs). They belong to EAP materials and are famous for their capability of huge displacement within a low voltage (1–3 V). With best operation quality in the humid environment, they can be made as underwater robots in simple structures. In this paper, two purposes are embodied. One focuses on the research on the IPMCs characteristics, including the actuating principle, manufacturing process, and parameters of performance. The other is that a relevant robot driven by IPMCs strips is designed. According to imitation propulsion mechanism of undulatory fins, IPMCs are designed for a novel bionic water vehicle propelled by undulatory multiple fish-like fins (made by IPMCs). The robot consists of three fins on the bottom tightly contacting by plastic foils with each other.

Keywords ionic polymer-metal composites (IPMCs) artificial muscles actuator bionic robot platinum-plated

Corresponding Author(s): PENG Hanmin,Email:phm0407@163.com

Issue Date: 05 September 2009

Cite this article:

Hanmin PENG,Qingjun Ding,Huafeng LI. Fabrication of ionic polymer-metal composites (IPMCs) and robot design[J]. Front Mech Eng Chin, 2009, 4(3): 332-338.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-009-0046-5
https://academic.hep.com.cn/fme/EN/Y2009/V4/I3/332

Fig.1 Structure of the perfluorosulfonic acid membrane; M represents the interior positive ions (such as H, Li, and Na)

Fig.2 (a) Schematic picture of IPMCs deformation (theoretical) and (b) schematic picture of IPMCs deformation (actual)

Fig.3 Deformation of IPMCs strip

Fig.4 Procedure of fabricating IPMCs

Fig.5 (a) Plating Pt on the interior surface; (b) plating Pt on the exterior surface

Fig.6 (a) Tip deformation with different voltages; (b) tip force with different voltages

Fig.7 Swimming modes associated with (a) BCF propulsion and (b) MPF propulsion [] (Shaded areas contribute to thrust generation)

Fig.8 Perspective view of an undulating fin, showing both force vectors []

Fig.9 Undulating fin by using three IPMCs strips

Fig.10 Perspective view of the designed robot

Fig.11 Swimming principle and sequence of IPMCs strip motion

Fig0

Fig.12 (a) Strain of element solution; (b) stress of element solution

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