人工肌肉作动器的制备及其视觉测控系统研究

Research on Preparation and Measuring-control Technique for Actuator Powered by Electroactive Polymers

为制作离子聚合物-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。

To develop theoretical instructions for application of ionic polymer-metal composite （IPMC） artificial muscle, a nation-membrance with thickness of 0.5ram was made by solgel 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 sysem 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-bit field average method and Roberts opera tor are utilized to smooth and sharpen the images. The gray threshold comparison method is used to extract the IPMC＇s contour and tip displacement. A driving circuit was designed for the IPMC^s mo- tion control. Experiments about the electromechanical--coupling characteristics and control character istics of the IPMC were made. It is concluded that the thrust of the IPMC will increases largely as long as its thickness increases. It is also shown that the displacement error of the IPMC tip can be controlled within ±0.5mm by a closed--loop PI control method.