ipmc力输出分析及八脚步行机器人仿真模拟-analysis of ipmc force output and simulation of eight-legged walking robot.docxVIP

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ipmc力输出分析及八脚步行机器人仿真模拟-analysis of ipmc force output and simulation of eight-legged walking robot.docx

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ipmc力输出分析及八脚步行机器人仿真模拟-analysis of ipmc force output and simulation of eight-legged walking robot

ABSTRACTAs a new kind of ionic polymer material, IPMC is well known by scholars all over the world for its characteristics of lightweight, easy miniaturization, quiet, soft, unbreakable and small power consumption et al. Some have successfully worked out biomimetic robots with IPMC.But, recently most research are mainly concentrated on the material itself. There is nearly no simulation or discussion about overall performance and behavior of biomimetic robots with IPMC. In fact, it could save much time and cost if we figure out possible factors, and manufacture will be much easier under guidance of simulation.Firstly, analysis of FEM simulation of IPMC with single piece in ABAQUS is taken. By comparing to the data of voltage-displacement measured in other paper, values of moment, distribution force and concentrate force that produce the same displacement can be determined. So, the relationship between voltage and displacement could be transformed to the relationship between force(moment, distribution force and concentrate force) and displacement. Moreover, an approximate expression of cubic polynomial fitting curve between voltage and concentrate force is given out.Further more, referred to data of other paper, FEM simulation of two different methods to strengthen IPMC material has been proposed. By analyzing the result, as to the method of multiple-plating, output power of 5-time plating increases by than that of 1-time plating; as to the other method of stacking, output power is linearly increased in theory. 1 time force at single piece, while 2 times force at double pieces, 3 times force at treble pieces.Finally, motion of 8-legged walking robot is simulated by ADAMS, and 3-time stacking IPMC material is used to simulate legs of the walking robot. Through comparison of different parameters, its concluded that smaller driven torque and higher torquefrequency could make the robot walk with a certain speed, carry more weight and maintain good