基于IPMC驱动的仿生眼球设计及制造
发布时间：2018-11-02 18:08
【摘要】：IPMC (Ionic polymer-metal composites)是一种新型智能材料。它是通过化学镀的方法在离子聚合物的表面形成金属电极制备获得的。在其两侧表面电极施加低电压时,可产生较大的变形。利用这一特性,IPMC材料可以用作驱动器,将电能转化成机械能。与传统的驱动器相比,它具有耗能少、无噪音、结构简单、质量轻等优点。 本文针对上述IPMC的特点,设计和制造了两种以IPMC为驱动器的仿生眼球。其主要内容包括驱动器制备、眼球的结构设计和相应的控制器的设计。 1、制备IPMC驱动器。通过在浇铸的TEOS改性Nafion膜上沉积金属铂制备出仿生眼球驱动所需的IPMC。 2、针对IPMC驱动器的优点和其对水环境具有依赖性,设计和制造了两种仿生眼球的结构:一维仿生眼球和二维仿生眼球。一维仿生眼球,实现眼球一维的左右摆动,由透明外壳、眼球、IPMC、电极以及基板构成。二维仿生眼球可以实现眼球的上下和左右运动,由透明外壳、眼球、弹簧、IPMC、定位块、电极以及基板构成。测试了IPMC空载驱动及驱动眼球两种工况下的位移性能并分析了影响驱动效果的因素。一维眼球运动摆角大约达到33.4°,二维眼球上下运动摆角大约达到25.2°,左右运动摆角大约达到30.4°。试验结果表明,IPMC作为仿生眼球驱动器是可行的。 3、为了满足IPMC驱动的需要和实现驱动的便携性,进行了控制器的设计。该控制器主要由ATmega16L单片机和D/A数模转换芯片组成,能产生驱动IPMC双向摆动时所需的频率和幅值可调的双极性正弦波和方波,并且具有多通道分时控制功能。通过示波器对该控电路的波形切换、调频和调幅功能进行了检测,验证了其可行性。
[Abstract]:IPMC (Ionic polymer-metal composites) is a new type of intelligent material. It was prepared by electroless plating on the surface of ionic polymer. When the surface electrode on both sides of the electrode is applied at low voltage, large deformation can be produced. Using this property, IPMC materials can be used as actuators to convert electrical energy into mechanical energy. Compared with the traditional drive, it has the advantages of less energy consumption, no noise, simple structure and light mass. According to the characteristics of IPMC, two kinds of bionic eyeballs with IPMC driver are designed and manufactured in this paper. The main contents include driver preparation, eyeball structure design and corresponding controller design. 1. The IPMC driver was fabricated. Preparation of IPMC. for Biomimetic eyeball Drive by deposition of Metal Platinum on cast TEOS modified Nafion Film 2. Aiming at the advantages of IPMC driver and its dependence on water environment, two kinds of bionic eyeball structures are designed and manufactured: one-dimensional bionic eyeball and two-dimensional bionic eyeball. One-dimensional bionic eyeball, the realization of one-dimensional left and right wobble, by transparent shell, eyeball, IPMC, electrode and substrate. Two-dimensional bionic eyeball can realize the upper and lower movement of the eyeball, which is composed of transparent shell, eyeball, spring, IPMC, positioning block, electrode and substrate. The displacement performance of IPMC no-load driving and eyeball driving was tested and the factors influencing the driving effect were analyzed. The pendulum angle of one-dimensional eye movement is about 33.4 掳, that of two-dimensional eye motion is about 25.2 掳, and that of left and right eye motion is about 30.4 掳. The experimental results show that IPMC is feasible as a bionic eye driver. 3. In order to meet the need of IPMC driver and realize the portability of driver, the controller is designed. The controller is mainly composed of ATmega16L microcontroller and D / A digital-analog converter chip. It can generate the frequency and amplitude adjustable bipolarity sine wave and square wave when driving IPMC bidirectional swing, and it has multi-channel time-sharing control function. The waveform switching, frequency modulation and amplitude modulation functions of the control circuit are tested by oscilloscope, and the feasibility is verified.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：R314
[Abstract]:IPMC (Ionic polymer-metal composites) is a new type of intelligent material. It was prepared by electroless plating on the surface of ionic polymer. When the surface electrode on both sides of the electrode is applied at low voltage, large deformation can be produced. Using this property, IPMC materials can be used as actuators to convert electrical energy into mechanical energy. Compared with the traditional drive, it has the advantages of less energy consumption, no noise, simple structure and light mass. According to the characteristics of IPMC, two kinds of bionic eyeballs with IPMC driver are designed and manufactured in this paper. The main contents include driver preparation, eyeball structure design and corresponding controller design. 1. The IPMC driver was fabricated. Preparation of IPMC. for Biomimetic eyeball Drive by deposition of Metal Platinum on cast TEOS modified Nafion Film 2. Aiming at the advantages of IPMC driver and its dependence on water environment, two kinds of bionic eyeball structures are designed and manufactured: one-dimensional bionic eyeball and two-dimensional bionic eyeball. One-dimensional bionic eyeball, the realization of one-dimensional left and right wobble, by transparent shell, eyeball, IPMC, electrode and substrate. Two-dimensional bionic eyeball can realize the upper and lower movement of the eyeball, which is composed of transparent shell, eyeball, spring, IPMC, positioning block, electrode and substrate. The displacement performance of IPMC no-load driving and eyeball driving was tested and the factors influencing the driving effect were analyzed. The pendulum angle of one-dimensional eye movement is about 33.4 掳, that of two-dimensional eye motion is about 25.2 掳, and that of left and right eye motion is about 30.4 掳. The experimental results show that IPMC is feasible as a bionic eye driver. 3. In order to meet the need of IPMC driver and realize the portability of driver, the controller is designed. The controller is mainly composed of ATmega16L microcontroller and D / A digital-analog converter chip. It can generate the frequency and amplitude adjustable bipolarity sine wave and square wave when driving IPMC bidirectional swing, and it has multi-channel time-sharing control function. The waveform switching, frequency modulation and amplitude modulation functions of the control circuit are tested by oscilloscope, and the feasibility is verified.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：R314
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