| Today, robots are playing important roles in various fields. Ion-exchange polymer metal composite (IPMC) is known as a material for artificial muscle actuator. The advantages of IPMC in requiring low activation voltage and the induced large bending strain led to its consideration for various potential application, especially in bio-inspired robotics.The thesis studies the displacement and force characteristics of the IPMC actuator. The specimen in the experiments was manufactured with Nafion-117 (DuPont) deposited two times with platinum. The experiment apparatus has been developed, which is based on software (LabVIEW) and hardware (PCI board NI 6024E). The displacements and generative force at the tip of the IPMC actuators were measured with respect to the different voltages, frequents and various waveforms which include square, sinusoidal, and triangular wave. It is concluded that maximum bending displacement becomes larger as the input voltage gets larger and the frequency becomes lower, while the curve of bending displacement is affected by waveform. In comparison with the little effect by various waveforms, the generative force at the tip of the IPMC actuators increases as the input voltage gets larger and the frequency becomes lower.Additionally,a special force/torque sensor was designed for the friction measurement of a rotational traveling wave ultrasonic motor. The elastic body of two-component sensor was optimized with finite element method. One dimension of the sensor measures normal force, another measures torque. Its measurement range for normal force is 0~200N with +0.09% accuracy and measurement range for torque is 0~2N·m with +0.41% accuracy. |
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