Research And Design On Control System Of 4-D Gripper Based On Creep Characteristics Model Of IPMC

With the rapid development of the precision machining technology, micro-drive mechanical systems, medical technology and aerospace technology, the application of mechanical micro-operation gripper of new smart materials is more and more widespread, and more and more countries around the world carry out relevant research. IPMC (Ion-Exchange Polymer Metal Composite) for new actuator equipments is a kind of intelligence material. When the input voltage, which is applied on the two sides of IPMC, is small, the output displacement of IPMC is large. So, it is easy to drive IPMC, and the IPMC get a lot of attention.However, IPMC have a kind of fatal non-linear characteristics, which is that the output displacement of IPMC will not maintain a fixed value but go back or even offset the initial position when the input voltage is constant. This nonlinearity greatly limited the application of IPMC in various fields.This paper starts by studies and analysis of the creep characteristics of IPMC and the establishment of IPMC creep model. Then, the four control algorithms (adaptive inverse control, the classical PID control, LQR and periodic output feedback control) are designed, and the four kinds of Algorithm are made simulation by MATLAB/SIMULINK. Compare and summarize the four control algorithms, come up with the most appropriate control algorithm of compensation for creep characteristics of IPMC, so that the creep characteristics of IPMC can be effectively compensated.The Controller based on algorithm is achieved by DSP (TMS320F2812). The design of DSP controller makes use of DSP's A/D module and D/A module. After the design of hardware of DSP controller, then the design of software and the debugging of software go along, and the results of debugging software are analyzed. From the results of debugging, the creep characteristics of IPMC get better the compensation.Finally, after the design of control systems, the structure of the 4-D gripper for IPMC is designed by UG. The structural design of 4-D gripper for IPMC is designed from the function, mechanics and so on, and the two-dimensional and four-dimensional structure figures and practicality of the 4-D gripper will be gained, then the grasping cells experiment will be finally completed successfully.