| 人工肌肉作动器的制备及其视觉测控系统研究 |
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| 引用本文： | 贺红林,汪良,占晓煌,刘文光.人工肌肉作动器的制备及其视觉测控系统研究[J].中国机械工程,2011,22(20). |
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| 作者姓名： | 贺红林 汪良 占晓煌 刘文光 |
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| 作者单位： | 1. 南昌航空大学,南昌,330063／浙江大学流体动力与机电系统国家重点实验室,杭州,310027
2. 南昌航空大学,南昌,330063 |
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| 基金项目： | 国家自然科学基金资助项目(50865009); 江西省教育厅重点科技项目(GJJ10024); 浙江大学流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-201006) |
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| 摘 要： | 为制作离子聚合物一金属复合材料（IPMC），基于全氟磺酸液制出厚达0．5mm基体膜，在利用还原法在膜表沉积出铂电极后，制成动力达22．5mN的IPMC。研制出IPMC视觉测控系统，并通过视觉采集部件捕捉其电致动图像，引入区域平均法和Roberts算子进行图像滤噪与锐化，采用灰度阈值法从图像中分割出IPMC轮廓并提取其末端位移。设计出IPMC控制电路，进行了IPMC功能特性与控制实验。研究表明，增大IPMC膜厚可增大其输出动力，采用PI控制可使IPMC末端位置跟踪误差控制在±0．5mm之内。
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| 关 键 词： | 离子聚合物一金属复合材料 制备 视觉测控系统 机电特性 PI控制器 |
Research on Preparation and Measuring-control Technique for Actuator Powered by Electroactive Polymers |
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| He Honglin, Wang Liang Zhan Xiaohuang Liu Wenguang .Nanchang Hangkong University,Nanchang.Research on Preparation and Measuring-control Technique for Actuator Powered by Electroactive Polymers[J].China Mechanical Engineering,2011,22(20). |
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| Authors: | He Honglin Wang Liang Zhan Xiaohuang Liu Wenguang Nanchang Hangkong University Nanchang |
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| Affiliation: | He Honglin1,2 Wang Liang1 Zhan Xiaohuang1 Liu Wenguang1 1.Nanchang Hangkong University,Nanchang,330063 2.The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou,310027 |
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| Abstract: | To develop theoretical instructions for application of ionic polymer-metal composite(IPMC) artificial muscle,a nafion-membrance with thickness of 0.5mm was made by sol-gel method.An IPMC actuator being capable of generating 22.5mN of thrust was prepared by plating a couple of platinum electrodes on dual-surfaces of the membrance.A visual measuring-control system was built for the actuator,and a CCD vision acquisition component used to capture the bending images of the IPMC was employed in the system.The 8-b... |
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| Keywords: | ionic polymer-metal composite actuator preparation measuring-control system electromechanical coupling characteristic PI controller |
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