Developement And Design On The System Of Integrative Gripper Based On IPMC

IPMC (Ion Exchange membrane Metal Composite materials) is a new type of artificial intelligent material. It has a lot of good properties, such as, light weight, good flexibility, being easily cut into any size and shape, and generating a larger displacement when applied a lower drive voltage. Instead of, it can produce weak perception voltage when been given a displacement load. However, the researcher found IPMC had two big defects during the practical application:static perception and creep characteristics. The defects greatly restricted IPMC’s application in a lot of fields. So the research of the static perception and creep properties of IPMC is very important for researching micro force control, the biomedical science and so on.This paper started by analysing of the perception characteristics of IPMC and established IPMC force model. Then, the Lab VIEW digital integral system was designed and it developed a complete set of sensing experiment platform, which is used to test the static displacement signal. At the same time, this paper made Microforce Sensor based on IPMC by using its static sensing properties and got the relationship between deformation and perception voltage by using the Matlab which can ployfit experiment datas. This paper obtained the relationship between perception voltage and force and got the force transfer equation form the mechanical model.This paper studied the reason why the creep phenomenon happenes in IPMC, described two creep models,and established IPMC creep model by using the method of offline identification. Meanwhile, it designed the PID control algorithm in order to achieve the compensation for creep characteristics of IPMC and simulated using Matlab. From the simulation results, the creep characteristics of IPMC can be effectively compensated.Finally, according to cell model and force transmission characteristics, this paper analyzed the action of each part when the gripper grabbed,and designed integration gripper structure based on IPMC. The gripper had three parts:actuator, sensor and holder,and achieved the function of perception and drive. From the perspective of practical application, it build the system of integration gripper using the LabVIEW, charge amplifier and power amplifier circuit, and used the system to accomplish the grab cell experiments.