IPMC驱动材料控制系统的研制

新型驱动材料IPMC具有驱动电压低,输出位移大,柔韧性好等优点,在仿生机器人和医疗仪器等微驱动领域有巨大的应用前景。为了满足IPMC驱动的需要和实现其便携性,为此进行了控制系统的研制。该控制系统由ATmega16L单片机控制模块、D/A数模转换模块、扩大输出电流模块、电源模块、按键模块和LCD显示模块组成,能产生驱动IPMC双向摆动时所需的、具有高输出电流的双极性正弦波和方波,且其频率和幅值可调,同时还具有多通道分时控制功能。通过示波器对该控制系统的波形切换、调频和调幅功能进行的检测,也验证了其可行性。

Development of Control System for Artificial Muscle IPMC

The new actuating material IPMC with virtues of low driving voltage,large output displacement and good flexility has a tremendous application prospect in the micro-actuator field,such as bio-robot and medical instrument.In order to satisfy the actuating need of IPMC and make it portable,a control system was designed.This control system is composed by ATmega16L control module,D/A digital to analog conversion module,output current expansion module,keyboard module,power module and LCD display module.It can generate sine wave and square wave with bipolar voltage and high output current,which is needed when IPMC is actuated.Its frequency and amplitude can be adjusted.Meanwhile,it can achieve multichannel and time-sharing output.In addition,the functions of switching waveform,modulating frequency and voltage were tested by an oscillograph,and verified that the design was feasible.