Research On IPMC Actuator And Its Application In Design Of Humanoid Finger

Electromechanical characteristics of Ionic Polymer Metal Composite (IPMC) is like muscle biology, which is called artificial muscle material. As a kind of new actuator, IPMC can be widely applied in many fields such as the bionic structures design, MEMS development and in the biological and medical implementations. The main researches have been completed on IPMC actuator and its application in design of humanoid finger in this thesis as follow.Firstly, the cantilever beam and the square board IPMC actuators were taken as research objects. Selected autoregressive model of SISO system as the output deflection of cantilever beam and square board IPMC actuators, applied recursive least squares algorithm to update the parameters in the model, the third-order output deflection of IPMC model was obtained based on data modeling and on-line identification method. Then the third-order output deflection of IPMC model had been simplified. The state space model of output force and output displacement of the square board IPMC model was obtained based on recursive least squares algorithm with forgetting factor in on-line identification Lab VIEW system.Secondly, the control rate had been designed by sliding mode control algorithm according to the state space expressions of the output deflection and force of IPMC actuators, and simulation experiments and semi-physical experiments had been performed. Aim at the sliding mode control experiment of output force of IPMC actuator, selected four IPMC samples of which have different sizes and shapes as research objects, and the corresponding sliding mode control semi-physical system experiments was completed. Under the condition of sliding mode control rate of unchanged parameter values, sliding mode control of the output force tracking of IPMC actuator was complicated, which verified that sliding mode control algorithm had insensitivity with the system parameters and disturbances.Finally, based on the humanoid finger capture behavior and the range of motion, according to body intelligence theory and ergonomics theory, two-joint-under-actuated humanoid finger whose joint was driven by IPMC actuator had been designed. The static analysis was done on the key components of the finger. Forward kinematics, inverse kinematics and Jacobi matrix of finger ends was researched to the finger. Then the output deflection of IPMC actuator was simulated in ANSYS. The humanoid finger had been modeled in MATLAB/SimMechanics, and dynamic analyses of the model had been done, which verified the effectiveness of IPMC actuator as joint drive and that the humanoid finger was satisfied with the requirements of design. At last, the movement of MATLAB/SimMechanics model of humanoid finger which was driven by IPMC actuator under sliding mode controller met the requirements of design.