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  本文關(guān)鍵詞：基于IPMC一體化手爪系統(tǒng)的設(shè)計與開發(fā)　出處：《東北大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： IPMC 蠕變模型 靜態(tài)感知 一體化手爪 PID控制

【摘要】：IPMC (Ion-Exchange Polymer Metal Composite,離子交換膜金屬復(fù)合材料)是一種新型的人工智能材料。它具有質(zhì)輕、柔韌性強、可切割成任意大小和形狀,施加較低的電壓可產(chǎn)生較大的位移等特性。相反地,給它一個位移載荷它能產(chǎn)生微弱的感知電壓。然而,研究中發(fā)現(xiàn)IPMC在實際應(yīng)用中有兩大缺陷：靜態(tài)感知和蠕變特性,這種兩種缺陷大大限制了IPMC在各領(lǐng)域的應(yīng)用。因此,對IPMC靜態(tài)感知和蠕變特性的研究在微力控制、生物醫(yī)學(xué)等領(lǐng)域具有重大的意義。 本文以分析IPMC的感知特性為出發(fā)點,建立了IPMC傳感器逆模型,同時又設(shè)計了基于LabVIEW逆模型運算系統(tǒng),開發(fā)了一套完整的傳感實驗平臺,用于檢測IPMC的靜態(tài)感知信號。同時,利用LabVIEW逆模型運算系統(tǒng)制作了基于IPMC的力傳感器,并利用Matlab對實驗數(shù)據(jù)進行擬合,擬合出了IPMC末端位移與感知電壓的關(guān)系,又運用建立的感知力學(xué)模型求出了力傳感器的力傳遞方程,得到了IPMC力傳感器的感知電壓與力的關(guān)系式,并對其進行了驗證。最后得出了IPMC力傳感器的性能指標(biāo)。 本文又探討了IPMC驅(qū)動器的蠕變特性成因,介紹了兩種常見的蠕變模型,根據(jù)其特點選擇了適合IPMC驅(qū)動器的蠕變模型,并利用離線辨識的方法建立了IPMC驅(qū)動器的蠕變模型。同時,設(shè)計PID控制算法來實現(xiàn)對驅(qū)動器蠕變特性的補償控制,并進行了Matlab控制算法仿真。從仿真結(jié)果來看,IPMC驅(qū)動器的蠕變特性可以得到較好的補償。 最后,本文根據(jù)力的傳遞特性,分析了抓取物體時所需要完成的動作,利用IPMC傳感器和驅(qū)動器設(shè)計了IPMC一體化手爪,手爪分成三部分：驅(qū)動器、感知器以及夾持器,實現(xiàn)了手爪感知驅(qū)動一體化的功能。從實際應(yīng)用的角度出發(fā),利用LabVIEW、電荷放大器以及功率放大電路完整地搭建了一體化手爪系統(tǒng),并利用手爪系統(tǒng)完成了抓取細胞實驗。
[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.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TB381;TH122

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本文編號：1389023