| As a new kind of ionic polymer material, IPMC is well known by scholars all overthe world for its characteristics of lightweight, easy miniaturization, quiet, soft,unbreakable and small power consumption et al. Some have successfully worked outbiomimetic robots with IPMC.But, recently most research are mainly concentrated on the material itself. There isnearly no simulation or discussion about overall performance and behavior of biomimeticrobots with IPMC. In fact, it could save much time and cost if we figure out possiblefactors, and manufacture will be much easier under guidance of simulation.Firstly, analysis of FEM simulation of IPMC with single piece in ABAQUS is taken.By comparing to the data of voltage-displacement measured in other paper, values ofmoment, distribution force and concentrate force that produce the same displacement canbe determined. So, the relationship between voltage and displacement could betransformed to the relationship between force(moment, distribution force and concentrateforce) and displacement. Moreover, an approximate expression of cubic polynomial fittingcurve between voltage and concentrate force is given out.Further more, referred to data of other paper, FEM simulation of two differentmethods to strengthen IPMC material has been proposed. By analyzing the result, as to themethod of multiple-plating, output power of5-time plating increases by than that of1-time plating; as to the other method of stacking, output power is linearly increased intheory.1time force at single piece, while2times force at double pieces,3times force attreble pieces.Finally, motion of8-legged walking robot is simulated by ADAMS, and3-timestacking IPMC material is used to simulate legs of the walking robot. Through comparisonof different parameters, it’s concluded that smaller driven torque and higher torque frequency could make the robot walk with a certain speed, carry more weight andmaintain good steadiness when the robot is on the move. |
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