CN103529082A - Portable IPMC artificial muscle testing device - Google Patents
Portable IPMC artificial muscle testing device Download PDFInfo
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- CN103529082A CN103529082A CN201310539916.XA CN201310539916A CN103529082A CN 103529082 A CN103529082 A CN 103529082A CN 201310539916 A CN201310539916 A CN 201310539916A CN 103529082 A CN103529082 A CN 103529082A
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- clamp body
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- proving installation
- muscle
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Abstract
The invention relates to a portable IPMC artificial muscle testing device and belongs to a portable testing technique. The portable IPMC artificial muscle testing device comprises a clamping component and a control system. The clamping component comprises a clamping body upper portion (1) and a clamping body lower portion (2), wherein the middle of the clamp body upper portion (1) is connected with the middle of the clamp body lower portion (2) through a shaft (3), the tail portion of the clamp body upper portion (1) is connected with the tail portion of the clamp body lower portion (2) through a compression spring (7) which is used for generating preloading force, and an electrode (8) and an electrode base (9) which are used for clamping an IPMC material sample (10) are respectively arranged at the head portion of the clamp body upper portion (1) and the head portion of the clamp body lower portion (2). All components of the testing device are arranged in a clamp body, so that the testing device is compact in structure and small in size. Furthermore, the testing device has large current load capacity, is convenient to use and can achieve the portability of an IPMC performance measuring device.
Description
Technical field
The invention belongs to a kind of portable measuring technology, be mainly used in the driveability of test I PMC artificial-muscle.
Technical background
Ionic polymer metal composite material IPMC (Ionic Polymer-metal Composites) is a kind of novel electroluminescent deformation macromolecular material.It take thin polymer film (as Nafion) is matrix, by the method for electroless plating, noble metal (as Pt) particle is permeated and be deposited on a kind of compound substance (Shahinpoor M that the surface of film forms, Bar Cohen Y, Simpson J O, et al. Ionic Polymer-metal Composites (IPMC) as a Biomimetric Sensors, Actuators and Artificial Muscles:a Review[J]. Smart Material and Structures, 1998,7:15-30.).In its two lateral electrode, apply low-voltage (below general 5 V) and can produce flexural deformation (can reach 90 °), and if apply merely mechanical load (moment of flexure) and can motivate induction electromotive force in the upper and lower surface of film.Utilize these characteristics of IPMC material, people may produce submissive actuator and the sensor with muscle performance.In addition, IPMC also has that driving voltage is low, flexibility is high, displacement is large, noise is little and the advantage such as thrust-weight ratio is large.At present, there are a lot of scholars to carry out the development research of the aspects such as bio-robot, flexible low resistance robotic arm, sensor, micro-actuator part with it.
When applying DC voltage to IPMC film, film anode is crooked, and degree of crook rises along with the increase of voltage, until the state that reaches capacity.Under alternating voltage, film produces and swings bending, and voltage magnitude and frequency are depended in its displacement.Conventionally, when low frequency, (be less than 0.1 or 0.01Hz) produces larger displacement, if when frequency rises to tens hertz, will not produce displacement.Under different frequency, driving voltage value when bending displacement reaches capacity is different, when frequency is higher, magnitude of voltage less (Tan Xiangqiang, Zhong Yingchun, Yang Yimin. the characteristic of IPMC artificial-muscle and application thereof [J]. hi-tech communication, 2002,12 (1): 50-52.).
The performance state that needs frequent test I PMC in practical study.Traditional IPMC proving installation is mainly comprised of signal generator (11) and simple and easy fixture (12).Proving installation produces control signal by signal generator, adopts simple and easy fixture clamping IPMC sample (9).This proving installation is slapped together by part, and operation and control are all inconvenient.
For above-mentioned situation, Nanjing Aero-Space University's biomimetic features and material protection research institute designed a set of integration proving installation (in quick, Zhang Hao, fourth great waves, what pine, Guo Dongjie, Dai Zhendong. IPMC artificial thews material performance testing device. CN201020142115.1).This proving installation is integrated signal generator, power sensor, laser displacement sensor and data acquisition module, can carry out Accurate Measurement by power output and the displacement output performance to different IP MC sample under water environment and in dried up environment.Therefore,, when needs carry out accurate performance test to IPMC sample, can use this kind of proving installation.But this proving installation volume is large, does not have portability.According to the demand to IPMC performance test in practical application, need to design a kind of small-sizedly, portable IPMC artificial-muscle proving installation, can observe IPMC driving condition at any time, and not need to obtain accurate test data cheaply.
Summary of the invention
For above technical background, the present invention has designed a kind of IPMC proving installation, and signal generating module and power module are integrated in clamp body, has realized the portability of proving installation.
An IPMC artificial-muscle proving installation, is characterized in that: comprise hold assembly, control system; Described hold assembly comprises clamp body top, clamp body bottom; The middle part on clamp body top is connected by axle with the middle part of clamp body bottom; The afterbody of the afterbody on clamp body top and clamp body bottom is connected by the stage clip for generation of preload force; The head of the head on clamp body top and clamp body bottom is separately installed with electrode and the electrode base for clamping IPMC material sample.Test macro is mainly comprised of upper and lower two parts clamp body, and all parts all concentrate on clamp body inside, compact conformation, and volume is little, has large electric current carrying load ability, advantage easy to use.
The head on above-mentioned clamp body top has for the upper T-shaped groove of described electrode is installed.The head of above-mentioned clamp body bottom has for the lower T-shaped groove of described electrode base is installed.T-shaped groove can be realized the accurate location of copper electrode and electrode base, has advantages of installation, convenient disassembly.
Described portable IPMC artificial-muscle proving installation, is characterized in that: above-mentioned electrode is for deformation occurring under preload force effect to guarantee to form with IPMC sample the S shape structure of good contact.Electrode adopts the design of S shape can prevent that electrode and IPMC surface from producing point and contacting, and IPMC is formed to good protection, guarantees good electric conductivity simultaneously.
Described portable IPMC artificial-muscle proving installation, is characterized in that: above-mentioned clamp body top and clamp body bottom are respectively equipped with for locating cylindrical hole and the cylinder of described stage clip.Clamp body provides pretightning force by stage clip, by lever principle, clamps IPMC sample.The pretightning force that stage clip provides can make copper electrode produce suitably distortion, guarantees the good contact of electrode slice and IPMC.The clamping project organization of this IPMC sample is simple, easy to operate.
Described portable IPMC artificial-muscle proving installation, is characterized in that: above-mentioned control system comprises: micro-control unit MCU, D/A conversion chip, differential amplification unit, Power Management Unit, gauge tap.Start after proving installation, by regulation control switch, control panel can output amplitude and adjustable square wave, the motion of sine wave signal driving IPMC sample of frequency.
Described portable IPMC artificial-muscle proving installation, is characterized in that: above-mentioned battery is lithium battery.Under equal capacity, it is little that lithium battery has volume, lightweight, and advantage that can recharge, is applicable to portable IPMC artificial-muscle proving installation.Lithium battery voltage is 3.7V, by power management power supply, is that proving installation is powered.It can be lithium cell charging that Micro-USB interface connects 5V direct supply.
Described portable IPMC artificial-muscle proving installation, is characterized in that: the below of above-mentioned clamp body bottom is also provided with bottom, has for the installation cavity of described battery and control system is installed between clamp body bottom and bottom.Proving installation is by power supply and control module is integrated has arrived in clamp body, makes device lightly portable.Bottom and clamp body bottom adopt sunk screw to fix, and facilitate the installation and removal of structure.
Above-mentioned fixture top also has the metallic channel for conducting wire.The control signal of control panel output is delivered on the electrode of clamping IPMC by wire.
Accompanying drawing explanation
Fig. 1 is portable IPMC proving installation schematic diagram a;
Fig. 2 is portable IPMC proving installation schematic diagram b;
Fig. 3 is Traditional IP MC proving installation schematic diagram;
Fig. 4 is clamp body superstructure schematic diagram;
Fig. 5 is clamp body substructure schematic diagram;
The signal output waveform figure of the portable IPMC artificial-muscle of Fig. 6 proving installation;
Number in the figure title: 1 is clamp body top, 1-1 is upper T-shaped groove, 1-2 is metallic channel, 1-3 is cylindrical hole, and 2 is clamp body bottom, and 2-1 is lower T-shaped groove, 2-2 is notch, and 2-3 is cylinder, and 3 is axle, 4 is control panel, 4-1 is power switch, and 4-2 is signal waveform selector switch, and 4-3 is signal frequency selector switch, 4-4 is signal amplitude selector switch, 4-5 is Micro-USB interface, and 5 is battery, and 6 is bottom, 7 is stage clip, 8 is electrode, and 9 is electrode base, and 10 is IPMC material sample, 11 is signal generator, and 12 is simple and easy fixture.
specific implementation method
After clamp body stage clip one side is exerted pressure, by IPMC clamping in position.After clamping IPMC, by stirring gauge tap, adjust the waveform of output signal, frequency and amplitude, drive IPMC sample to swing.Intellectual material IPMC can realize larger flexural deformation under low-voltage (1V-3V) drives.When applying after positive voltage at IPMC two ends, IPMC is crooked to positive electrode; While applying negative voltage, IPMC is crooked to negative electrode.When driving voltage direction and size change, the diastrophic direction of IPMC and the size of bending displacement can be along with changes.When driving the frequency shift of signal, the frequency that IPMC swings can change thereupon.
On clamp body lower case side, have 4 groups of notches for placing four groups of gauge tap on control panel.Four groups of gauge tap are respectively power switch 4-1, signal waveform selector switch 4-2, signal frequency selector switch 4-3 and signal amplitude selector switch 4-4.Proving installation control module adopts MCU look-at-me to process, and by regulating corresponding gauge tap, can change at any time waveform, frequency and the amplitude of output signal, and then the hunting frequency of IPMC sample and amplitude are controlled.
Proving installation adopts lithium battery power supply, can repeatedly discharge and recharge.The built-in charging management chip of proving installation, can directly be used common 5V DC charger to charge.By in the Micro-USB mouth on 5V direct supply access proving installation, lithium battery starts charging, after charging indicator light turns lamp, has charged.
Attached: the signal output waveform of portable IPMC artificial-muscle proving installation is shown in Fig. 6.The oscillogram when left side is regulation output signal amplitude, oscillogram when the right is regulation output signal waveform.By test result, can find out, the signal output waveform of proving installation is accurate, rapid for the response of conditioning signal.
Claims (9)
1. a portable IPMC artificial-muscle proving installation, is characterized in that:
Comprise hold assembly, control system;
Described hold assembly comprises clamp body top (1), clamp body bottom (2); The middle part of the middle part on clamp body top (1) and clamp body bottom (2) is connected by axle (3); The afterbody of the afterbody on clamp body top (1) and clamp body bottom (2) is connected by the stage clip for generation of preload force (7); The head of the head on clamp body top (1) and clamp body bottom (2) is separately installed with for the electrode (8) of clamping IPMC material sample (10) and electrode base (9).
2. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that: the head on above-mentioned clamp body top (1) has for the upper T-shaped groove (1-1) of described electrode (8) is installed.
3. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that: the head of above-mentioned clamp body bottom (2) has for the lower T-shaped groove (2-1) of described electrode base (9) is installed.
4. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that:
Above-mentioned electrode (8) is deformation to occur under preload force effect to guarantee to form with IPMC sample the S shape structure of good contact.
5. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that: above-mentioned clamp body top (1) and clamp body bottom (2) are respectively equipped with cylindrical hole (1-3) and the cylinder (2-3) for locating described stage clip (7).
6. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that: above-mentioned control system comprises: micro-control unit MCU, D/A conversion chip, differential amplification unit, Power Management Unit, gauge tap and Micro-USB interface (4-5).
7. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that: above-mentioned battery is lithium battery (5).
8. portable IPMC artificial-muscle proving installation according to claim 1, it is characterized in that: the below of above-mentioned clamp body bottom (2) is also provided with bottom (6) between clamp body bottom (2) and bottom (6), having for the installation cavity of described battery (5) and control system (4) is installed.
9. portable IPMC artificial-muscle proving installation according to claim 1, is characterized in that: above-mentioned fixture top (1) also has the metallic channel (1-2) for conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310539916.XA CN103529082A (en) | 2013-11-05 | 2013-11-05 | Portable IPMC artificial muscle testing device |
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| CN201310539916.XA CN103529082A (en) | 2013-11-05 | 2013-11-05 | Portable IPMC artificial muscle testing device |
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| CN103529082A true CN103529082A (en) | 2014-01-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106455186A (en) * | 2016-07-13 | 2017-02-22 | 南京航空航天大学 | LED lamp control circuit based on ionic-type electroactive polymer |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2723119Y (en) * | 2004-06-30 | 2005-09-07 | 吴恒建 | Hand pincers |
| CN101813533A (en) * | 2010-03-26 | 2010-08-25 | 南京航空航天大学 | Device for testing performance of IPMC (Ionic Polymer-Metal Composite) artificial muscle material |
| US20100273270A1 (en) * | 2005-10-28 | 2010-10-28 | Panasonic Corporation | Measuring device, measuring apparatus and method of measuring |
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2013
- 2013-11-05 CN CN201310539916.XA patent/CN103529082A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2723119Y (en) * | 2004-06-30 | 2005-09-07 | 吴恒建 | Hand pincers |
| US20100273270A1 (en) * | 2005-10-28 | 2010-10-28 | Panasonic Corporation | Measuring device, measuring apparatus and method of measuring |
| CN101813533A (en) * | 2010-03-26 | 2010-08-25 | 南京航空航天大学 | Device for testing performance of IPMC (Ionic Polymer-Metal Composite) artificial muscle material |
Non-Patent Citations (3)
| Title |
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| QINGSONG HE ET AL.: "《Experimental Study and Model Analysis of the Performance of IPMC Membranes with Various Thickness》", 《JOURNAL OF BIONIC ENGINEERING》 * |
| R.K.JAIN ET AL.: "《SCARA based peg-in-hole assembly using compliant IPMC micro gripper》", 《ROBOTICS AND AUTONOMOUS SYSTEMS》 * |
| 汤伊黎: "《人工肌肉(IPMC)的制备及测试研究》", 《中国优秀硕士学位论文全文数据库（电子期刊）工程科技Ⅰ辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106455186A (en) * | 2016-07-13 | 2017-02-22 | 南京航空航天大学 | LED lamp control circuit based on ionic-type electroactive polymer |
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Application publication date: 20140122 |