Design And Properties Study Of Structure Assembled For Bionic Muscles Based On IPMC

IPMC (Ionic Polymer Metal Composites) is an Electro Active Polymer material, which has such advantages as large deformation, light weight, flexibility, low energy consumption and fast response speed etc. Based on the excellent performance,IPMC possesses significant value to academic research and capacious application prospects. In this paper,a method of linear driving unit assembled for bionic muscles was presented according to bionic theory of biological muscle prototype, and its output characteristics of linear driving unit assembled for bionic muscles was also investigated.Firstly, the microstructure of biological muscles was studied in the paper, and an assembled approach of IPMC was proposed. Through analyzing the relationship between input and output for IPMC, force output model of a cantilever was built. Based on the output performance of IPMC, the performance of the assembled structure of IPMC was analyzed,and a structure of linear driving unit of bionic muscles was determined. Structure size of linear driving unit assembled for bionic muscles was explicit by analyzing mechanical property of different IPMC. Furthermore, control principle of linear driving unit assembled for bionic muscles was studied by analyzing internal electric field distribution.Secondly, preparation method and size structure of IPMC were optimized, to enhanced the output performance. Simultaneously, stress distribution of join point of the linear driving unit assembled for bionic muscles was simulated,and utilized to decrease the influence of actuator performance on electrode block. So on the basis of IPMC, electrode block and transmitting electrode, assembly technology related linear driving unit assembled for bionic muscles was designed.Then, testing platform of linear driving unit assembled for bionic muscles was set up,which was employed to output force and displacement performance under different initial angles and electric transmitting ways. Also, force output efficiency of various IPMC strips was researched, which can be used to improve output performance of the linear driving unit assembled for bionic muscles. Moreover,the relationship of structure form changes in the motion process of linear driving unit assembled for bionic muscles was analyzed, and the optimum motion range was obtained.In addition,a structure of bionic muscle fibers was designed,which is based on structure assembled principle of biological muscles, and the cage construction was manufactured by using 3D printing technique. Also, force output efficiency was researched through testing force output performance of prototype prepared on the test platform. Finally,a small robot beating equipment was designed using bionic muscle fibers, and the performance was measured, which verified the feasibility of linear driving unit assembled for bionic muscles application in the engineering field.