| Ionic polymer metal composites(IPMC) is a new type of smart material, which depositedprecious metal platinum on both side by chemical plating method. When IPMC is in the electric field,it will produce certain displacement and blocking force. IPMC have potential applications such assensors, medical engineering, biomimetic materials, actuators. It have many merit including lowenergy consumption, light weight, low voltage. To solve the problem of traditional gastrointestinaldetection and capsule endoscopy in clinical, in this paper, IPMC was used in gastrointestinal detection,the active intestinal robot and its control system are developed. Trying to explore a new way ofintestinal probe. The main contents include the following:1. Preparing the IPMC actuator for intestinal robot. The IPMC using recasted Nafion membranewith TEOS were fabricated by electroless plating, the thickness of IPMC should be less than0.3mm.According to actual needs, IPMC was cut into18mm×5mm and13mm×4mm.2. A driving circuit was designed for intestinal robot. The driver circuit was able to provide theintestinal robot with low-frequency and bipolar programmable signal. The power of output signalreached2W with large current. The main chip of control system was an ATmega16microcontroller.The external circuit was composed of a D/A converter module, a signal module and a signalamplification module. The software for the control system was designed to output square wave,triangle wave, sine wave, and the combination of the waves. The IPMC motion displacement drivenby the control system was compared with that driven by a standard signal generator. The result ofcompare showed the control system was feasibility to actuate intestinal robot.3. Developed an intestinal robot model, the model including the roof, bottom cover, electrodeand IPMCs, set up an intestinal robot test platform made of plexiglass tank. For gait requirements,tested displacement of IPMC driven by control system, verify that when the voltage stay at peak, theIPMC will stay at ultimate displacement for a short time, according to the characteristics, used that inthe planning gait, tested the movement speed of intestinal robot in that gait, the fastest speed can reach15mm/min. |
