| At present,soft robots are rising rapidly all over the world,and various ideas and designs about it emerge in en.dlessly.The most important core of soft robots preparation is the choice of materials.Ionic Polymer Metal Composites(IPMC)owns the advantages of fast electric field response,light weight,large bending at low voltage and a certain force output.Many scholars use it as sof.t driving material to study soft robots.At present,platinum(Pt),gold(Au)and palladium(Pd)and other noble metals are usually used in the preparation of IPMC flexible actuators at domain and abroad,which leads to the high cost and limits the wide application of IPMC to a certain extent.Therefore,exploring the preparation method of low cost IPMC has become an important direction in the field of IPMC materials research.In addition,the underwater bionic application of IPMC is not:very detailed at present.In this paper,platinum Ionic Polymer Metal Composites(Pt-IPMC)were prepared firstly by using Nafion-117 proton exchange membrane of DuPont Company as substrate membrane.Then,on the basis of analyzing the principle of IPMC actuation,the preparation method of replacing traditional Pt electrode with copper(Cu)was explored.The basic properties of copper-based Ionic Polymer Metal Composites(Cu-IPMC)and Pt-IPMC,such as moisture content,adhesion,morphology,rate of weight gain,surface resistance,actuation effect and force output,were measured and analyzed.According to the comparison,it is found that the tolerant voltage range of Cu-IPMC is 3-10 V,the tolerant voltage range of Pt-IPMC is 3-5 V,and the maximum voltage of Cu-IPMC is much higher than that of Pt-IPMC.The maximum voltage of Cu-IPMC is much higher than that of Pt-IPMC.In addition,the maximum force output of Cu-IPMC is 17 mN,and the maximum force output of Pt-IPMC is 13 mN.The results show that it is feasible to use cheap Cu instead of expensive Pt to prepare IPMC.In addition,Pt-IPMC is also used in bionic application research.Firstly,based on the performance test of Pt-IPMC,the influence of different Pt-IPMC sizes on its motion characteristics and force output was studied,and the optimal Pt-IPMC size is determined.The influence of driving voltage and driving frequency on the motion characteristics was analyzed,and the law of frequency-displacement characteristics and the optimum driving alternating current were obtained(5 V,1 Hz),which provides the basis for the design and control of ray drive system.Based on the analysis of the structural characteristics of rays,the Pt-IPMC driving scheme was designed,and the bionic rays were prepared by Pt-IPMC,and the gait analysis of rays in nature was carried out to obtain the phase relationship of the isometric four points on the pectin during swimming.Finally,the driving circuit was designed and manufactured,and the actual test of bionic ray was carried out.The results show that the swimming speed of the bionic ray in the water can reach 4 mm/s. |
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