| Popis: |
In this paper application of Ionic Polymer Metal Composite (IPMC) as actuator in a deformable ring capable of locomotion is studied. Such a deformable ring moves as a result of gravitational force acting on its body when its shape changes. It can be used in exploration, search and rescue missions in future, where using conventional robots with rigid bodies and actuators is impossible. Large deformation induced by small stimulating voltage, low stiffness the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application. In this work first a model for IPMC is introduce that can be used in simulating deformation of IPMC in different arrangements of actuators. Since in this research we used our own fabricated IPMC, next we present characterization tests and identification results for model's parameters. Then using this model in simulation possibility of generating locomotion using body deformation in a ring made of IPMC is confirmed. Finally result of experiment on deformable ring is presented and possibility of implementation of the proposed design is confirmed. Based on this work, more accurate models can be developed to get better compatibility between experiment and simulation results. Also by modifying fabrication techniques, a deformable ring with faster and steadier movement can be made in future. |
