| Robots which simulate the structures and functions of creatures are developing field of robot technologies in the future. Ion-exchange polymer metal composite (IPMC) is known as an intelligent e-active material. The advantages of IPMC in light weight, requiring low driving voltage and the induced large deformation led to be a new active material for the application in bio-inspired robots. Many organizations of scientific research in our country and foreign country are exploring in the field. In order to apply IPMC to drive to the gecko's foot, our task team researched in active material of IPMC in the base of lots of investigations and studies in relative references lose no time. Studies in the thesis included manufacture, filter and improvement of IPMC'S noumenal material, fabricating and improving the electrode ,choosing and optimizing the internal electrolyte of IPMC, fabricating multilayer IPMC in a parallel way and so on. The content was below:(1) Manufactured the Nafion membrane and SiO2-doped Nafion membrane by introducing TEOS to the Nafion solution during the Nafion crystallization course.(2) The surface of ionic-exchange membrane must be roughened before the electrode was fabricated. The ways of roughing included polish with sand paper and sandblast. Then, Pt was plated on both faces of ion-exchange membrane. Additionally, effective dispersing agents (PVP) were added during the platinum metallization process in order to reducing or eliminating the water leakage out of the surface electrode. We also explored silica gel-graphite electrode preliminarily.(3) In order to investigate how the cation form affected the output force at the end tip of the IPMCs, two cation species have been used in IPMCs. The cations were H+ and Li+. The output force of IPMCs was also enhanced effectively with acetic acid bromize imidazole replacing deionized water as solvent.(4) In order to enhance IPMCs'output force we also fabricated multilayer IPMCs in a parallel way.
|
PDF Full Text Request