An IPMC-made deformable-ring-like robot
作者: A FirouzehM OzmaeianA AlastyA Iraji zad
作者单位: 1SIPD
刊名: Smart Materials and Structures, 2012, Vol.21 (6), pp.065011 (11pp)
来源数据库: Institute of Physics Journal
DOI: 10.1088/0964-1726/21/6/065011
英文摘要: In this paper application of ionic polymer–metal composite (IPMC) as an actuator in a deformable circular robot is studied. Large bending deformation induced by small stimulating voltage, low stiffness and the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application.Here, first a model for IPMC is proposed that can be used in simulating different arrangements of actuators. The parameters of the model are determined using results of blocked force and free displacement tests. Using this model, potentials of an IPMC-made ring-like robot in passing obstacles and the effect of the number of segments on the ring’s performance are investigated. Next, the result of an experiment on a ring made of six segments is presented and the...
全文获取路径: IOP 
影响因子:2.024 (2012)

  • deformable 可变形的
  • robot 机扑