Drive And Sensing Characteristics Analysis Of Curved Conductive Polymer Actuator

Conductive polymer is a kind of new intelligent material with great potential for development,because of its low driving voltage,good biological adaptability,large range of mechanical deformation,good flexibility,simple structure,being able to work under gas and liquid medium environment,which make this material to be the research focus in areas like intelligent mechanical system,bionic micro operating system,micro robot and so on.This paper took the trilayer bending conductive polymer polypyrrole(PPy)actuator as the research object,established corresponding experimental operating system based on the drive/sensing mechanism,then researched the performance of PPy when it worked as a actuator or a sensor,analyzed its characteristics finally.The main research content of this paper are as follows:(1)The experimental results of the PPy driver showed that the PPy driver is with defects such as positioning inaccurately and Poor controllability which likely to be due to the hysteresis nonlinearity,so established the hysteresis model of polypyrrole actuator,through the analysis and compare of the theory output of the hysteresis model and theactual output data,proved the existence of nonlinear hysteresis phenomenon in the work process of polypyrrole actuator.By analyzing the difference between hysteresis graphics under different frequency of driving voltage,the conclusion has been got polypyrrole nonlinear hysteresis characteristics has nothing to do with the work voltage frequency.(2)In order to research the PPy drive/sensor coupling phenomenon and identify the electrical components parameters of PPy actuator equivalent circuit model,the current signal within polypyrrole actuator was measured in the process of applying different types of work voltage on it,a preliminary analysis of the relationship between the driving voltage and the corresponding current signal has been done.(3)Established the measurement experimental system of PPy mechanical sensor to collect the sensor output signal,effective experimental data was obtained by magnifying and gathering the extremely weak electrical signals under the condition of blocking interference.Through the analysis of the relationship between the mechanical deflection displacement input and the corresponding electrical signal output,displacement input-voltage output image was got in the process of the deflection input gradually increase/decrease,identified the input-output curve equation in the whole process,the existence of nonlinear hysteresis characteristic has been proved when PPyworks as a mechanical sensor.(4)Established a experimental system designed for collecting weak sensor output signal of PPy mechanical sensor,with simple structure,convenient operation,small energy consumption and so on.