Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation
Joint Authors
Wang, Yanjie
Liu, Jiayu
Zhu, Denglin
Chen, Hualing
Source
Applied Bionics and Biomechanics
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-03-25
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter.
However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion.
So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube.
We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface.
The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology.
By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated.
Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation.
American Psychological Association (APA)
Wang, Yanjie& Liu, Jiayu& Zhu, Denglin& Chen, Hualing. 2018. Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation. Applied Bionics and Biomechanics،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1114584
Modern Language Association (MLA)
Wang, Yanjie…[et al.]. Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation. Applied Bionics and Biomechanics No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1114584
American Medical Association (AMA)
Wang, Yanjie& Liu, Jiayu& Zhu, Denglin& Chen, Hualing. Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation. Applied Bionics and Biomechanics. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1114584
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1114584