基于IPMC驅(qū)動(dòng)的仿生眼球設(shè)計(jì)及制造
發(fā)布時(shí)間：2018-11-02 18:08
【摘要】：IPMC (Ionic polymer-metal composites)是一種新型智能材料。它是通過化學(xué)鍍的方法在離子聚合物的表面形成金屬電極制備獲得的。在其兩側(cè)表面電極施加低電壓時(shí),可產(chǎn)生較大的變形。利用這一特性,IPMC材料可以用作驅(qū)動(dòng)器,將電能轉(zhuǎn)化成機(jī)械能。與傳統(tǒng)的驅(qū)動(dòng)器相比,它具有耗能少、無噪音、結(jié)構(gòu)簡(jiǎn)單、質(zhì)量輕等優(yōu)點(diǎn)。 本文針對(duì)上述IPMC的特點(diǎn),設(shè)計(jì)和制造了兩種以IPMC為驅(qū)動(dòng)器的仿生眼球。其主要內(nèi)容包括驅(qū)動(dòng)器制備、眼球的結(jié)構(gòu)設(shè)計(jì)和相應(yīng)的控制器的設(shè)計(jì)。 1、制備IPMC驅(qū)動(dòng)器。通過在澆鑄的TEOS改性Nafion膜上沉積金屬鉑制備出仿生眼球驅(qū)動(dòng)所需的IPMC。 2、針對(duì)IPMC驅(qū)動(dòng)器的優(yōu)點(diǎn)和其對(duì)水環(huán)境具有依賴性,設(shè)計(jì)和制造了兩種仿生眼球的結(jié)構(gòu):一維仿生眼球和二維仿生眼球。一維仿生眼球,實(shí)現(xiàn)眼球一維的左右擺動(dòng),由透明外殼、眼球、IPMC、電極以及基板構(gòu)成。二維仿生眼球可以實(shí)現(xiàn)眼球的上下和左右運(yùn)動(dòng),由透明外殼、眼球、彈簧、IPMC、定位塊、電極以及基板構(gòu)成。測(cè)試了IPMC空載驅(qū)動(dòng)及驅(qū)動(dòng)眼球兩種工況下的位移性能并分析了影響驅(qū)動(dòng)效果的因素。一維眼球運(yùn)動(dòng)擺角大約達(dá)到33.4°,二維眼球上下運(yùn)動(dòng)擺角大約達(dá)到25.2°,左右運(yùn)動(dòng)擺角大約達(dá)到30.4°。試驗(yàn)結(jié)果表明,IPMC作為仿生眼球驅(qū)動(dòng)器是可行的。 3、為了滿足IPMC驅(qū)動(dòng)的需要和實(shí)現(xiàn)驅(qū)動(dòng)的便攜性,進(jìn)行了控制器的設(shè)計(jì)。該控制器主要由ATmega16L單片機(jī)和D/A數(shù)模轉(zhuǎn)換芯片組成,能產(chǎn)生驅(qū)動(dòng)IPMC雙向擺動(dòng)時(shí)所需的頻率和幅值可調(diào)的雙極性正弦波和方波,并且具有多通道分時(shí)控制功能。通過示波器對(duì)該控電路的波形切換、調(diào)頻和調(diào)幅功能進(jìn)行了檢測(cè),驗(yàn)證了其可行性。
[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 擄, that of two-dimensional eye motion is about 25.2 擄, and that of left and right eye motion is about 30.4 擄. 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.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：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 擄, that of two-dimensional eye motion is about 25.2 擄, and that of left and right eye motion is about 30.4 擄. 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.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：R314
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