传感技术学报2016，Vol.29Issue(4)：489-494,6.DOI:10.3969/j.issn.1004-1699.2016.04.005
导电聚合物驱动器悬臂梁模型建立及柔性抓取装置设计
Equivalent Beam Model Establishing and Design of Flexible Grippers for Conducting Polymer Actuators
摘要
Abstract
Conducting polymers can be used to manufacture biomedical device due to their good flexibility,requiring low actuation voltages and small energy consumption. According to the equivalent cantilever beam theory,the mechan⁃ical model of conducting polymer actuators are given. The experimental system has been set up for the actuators which made by multilayer bending conducting polymer. Through researched the substrate bending deformation,we estab⁃lished the function relationship between the bending displacement and the voltage and the length,calculate the numer⁃ical values of uniformly distributed load. The experimental results indicate that the bending displacement of the actua⁃tors is linear related to its length and voltage,when the voltage reaches 1.0 V,the bending speed of actuators tended to be stable and bending effect can be considered optimal. To overcome disadvantages of high energy consumption and complex structures,a flexible gripper using a type of smart material called conducting polymer was designed and man⁃ufactured. It was verified by the fact that this gripper can grasp an object whose weight is about 0.011 1 g.关键词
导电聚合物/聚吡咯/柔性手爪/悬臂梁结构/等效模型/驱动器Key words
conducting polymer/polypyrrole/flexible gripper/cantilever beam structure/equivalent model/actuator分类
机械制造引用本文复制引用
田素坤,王湘江..导电聚合物驱动器悬臂梁模型建立及柔性抓取装置设计[J].传感技术学报,2016,29(4):489-494,6.基金项目
湖南省教育厅重点项目（13A081）；湖南省研究生科研创新项目 （）
