基于IPMC一体化手爪系统的设计与开发

发布时间：2018-01-06 18:38

本文关键词：基于IPMC一体化手爪系统的设计与开发　出处：《东北大学》2011年硕士论文　论文类型：学位论文

【摘要】：IPMC (Ion-Exchange Polymer Metal Composite,离子交换膜金属复合材料)是一种新型的人工智能材料。它具有质轻、柔韧性强、可切割成任意大小和形状,施加较低的电压可产生较大的位移等特性。相反地,给它一个位移载荷它能产生微弱的感知电压。然而,研究中发现IPMC在实际应用中有两大缺陷：静态感知和蠕变特性,这种两种缺陷大大限制了IPMC在各领域的应用。因此,对IPMC静态感知和蠕变特性的研究在微力控制、生物医学等领域具有重大的意义。本文以分析IPMC的感知特性为出发点,建立了IPMC传感器逆模型,同时又设计了基于LabVIEW逆模型运算系统,开发了一套完整的传感实验平台,用于检测IPMC的静态感知信号。同时,利用LabVIEW逆模型运算系统制作了基于IPMC的力传感器,并利用Matlab对实验数据进行拟合,拟合出了IPMC末端位移与感知电压的关系,又运用建立的感知力学模型求出了力传感器的力传递方程,得到了IPMC力传感器的感知电压与力的关系式,并对其进行了验证。最后得出了IPMC力传感器的性能指标。本文又探讨了IPMC驱动器的蠕变特性成因,介绍了两种常见的蠕变模型,根据其特点选择了适合IPMC驱动器的蠕变模型,并利用离线辨识的方法建立了IPMC驱动器的蠕变模型。同时,设计PID控制算法来实现对驱动器蠕变特性的补偿控制,并进行了Matlab控制算法仿真。从仿真结果来看,IPMC驱动器的蠕变特性可以得到较好的补偿。最后,本文根据力的传递特性,分析了抓取物体时所需要完成的动作,利用IPMC传感器和驱动器设计了IPMC一体化手爪,手爪分成三部分：驱动器、感知器以及夹持器,实现了手爪感知驱动一体化的功能。从实际应用的角度出发,利用LabVIEW、电荷放大器以及功率放大电路完整地搭建了一体化手爪系统,并利用手爪系统完成了抓取细胞实验。
[Abstract]:IPMC Ion-Exchange Polymer Metal Composite. Ion exchange membrane metal composite (IEM) is a new artificial intelligence material. It is light, flexible and can be cut into any size and shape. By applying a lower voltage, a larger displacement and other properties can be produced. On the contrary, it can produce a weak perceptual voltage by giving it a displacement load. The study found that IPMC has two major defects in practical application: static perception and creep characteristics. These two defects greatly limit the application of IPMC in various fields. The study of static sensing and creep characteristics of IPMC is of great significance in the fields of microforce control, biomedicine and so on. Based on the analysis of the sensing characteristics of IPMC, the inverse model of IPMC sensor is established, and the computing system based on LabVIEW inverse model is designed. A complete sensing experiment platform is developed to detect the static sensing signal of IPMC. At the same time, the force sensor based on IPMC is made by using the LabVIEW inverse model operation system. Using Matlab to fit the experimental data, the relationship between the displacement of the end of IPMC and the sensing voltage is fitted, and the force transfer equation of the force sensor is obtained by using the established perceptual mechanics model. The relationship between the sensing voltage and the force of the IPMC force sensor is obtained and verified. Finally, the performance index of the IPMC force sensor is obtained. This paper also discusses the cause of creep characteristics of IPMC actuator, introduces two common creep models, and selects a creep model suitable for IPMC driver according to its characteristics. The creep model of IPMC driver is established by off-line identification, and the PID control algorithm is designed to compensate the creep characteristics of the driver. The simulation results show that the creep characteristics of the Matlab actuator can be well compensated. Finally, according to the transfer characteristics of the force, this paper analyzes the action that needs to be completed when grabbing the object. The IPMC integrated claw is designed by using the IPMC sensor and driver. The claw is divided into three parts: the driver. The perceptron and the gripper realize the function of the hand claw sensing drive integration. From the practical application point of view, the use of LabVIEW. The integrated hand claw system is constructed by charge amplifier and power amplifier circuit, and the gripping cell experiment is completed by the hand claw system.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TB381;TH122

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