IPMC (Ionic Polymer Metal Composite) driven simulated dragonfly wing flapping robot

Abstract

The invention discloses an IPMC (Ionic Polymer Metal Composite) driven simulated dragonfly wing flapping robot and relates to a simulated wing flapping robot. The IPMC driven simulated dragonfly wing flapping robot is provided with wing veins, wing membranes, wing IPMC driving parts, wings, a robot body, circuit controllers, copper sheet electrodes, robot body IPMC driving parts and fixing shafts; the wing veins are arranged on the wings; the two wing IPMC driving parts are arranged on the wings; deformation of the wings is achieved due to change of the wing shapes; the two robot body IPMC driving parts are arranged at the bottom of the robot body; one ends of the robot body IPMC driving parts are fixed on the robot body and the other ends are arranged on wing root portions of the wings; the wings are hinged to the robot body which drives flapping of the wings; the copper sheet electrodes enable the circuit controllers and the wing IPMC driving parts or the circuit controllers and the robot body IPMC driving parts to be connected through leads; the circuit controllers, the robot body IPMC driving parts and the fixing shafts are arranged on a robot frame; fixing shaft holes in the wings are hinged to the fixing shafts to achieve rotation between the wings and the robot body.

Description

technical field [0001] The invention relates to a bionic flapping wing robot, in particular to a bionic dragonfly flapping wing robot driven by an ion polymer metal compound (IPMC). Background technique [0002] IPMC material is an electrically actuated smart material obtained by forming metal electrodes (platinum, gold, silver, copper, etc.) on the surface of sulfonic acid-based ionic polymers by electroless plating. [0003] When a voltage is applied on both sides of the IPMC material, the hydrated cations inside the ionic polymer membrane move under the action of the electric field force, and a certain pressure difference is formed in the membrane to deform the polymer, thereby generating displacement and output force. IPMC materials have the characteristics of small driving voltage, large deformation, high efficiency, good flexibility, and good biocompatibility, so they have become a hot research topic. [0004] Chinese patent CN 101934861A discloses a piezoelectric imi...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a more efficient and simpler form of flapping wings, that is, based on IPMC drive, for the shortcomings of traditional mechanically driven flapping wing robots, such as complex transmission mechanism, heavy mass, high energy consumption, and low energy utilization rate. The bionic dragonfly flapping robot uses ionic polymer metal composite (IPMC) as the driving element to realize the flapping and control of the wings by controlling the frequency and phase difference of the IPMC loading voltage, and by controlling the IPMC drive on the wings Components to realize the active deformation of the wing to achieve better flapping flight adaptability of the bionic dragonfly flapping wing robot driven by the ion polymer metal composite

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