A multi-dimensional movable tubular IPMC and a driving method

Abstract

The application relates to a multi-dimensional motion tubular IPMC and a driving method, comprising a tubular IPMC body, surface electrodes, wires and a driving controller, wherein the surface electrodes are regularly arranged on the surface of the tubular IPMC body, each electrode is independent of each other, the wires are connected with the surface electrodes and the driving controller at both ends, and the tubular IPMC can realize multi-mode motions such as bending, folding and twisting under the control of the electric signal output by the driving controller. The multi-dimensional motion tubular IPMC provided by the application has simple structure, small volume, greatly widened functional attributes and application range of the tubular IPMC, and can be applied to the fields of intelligent guiding and attitude control.

Description

Technical Field

[0001] This invention relates to the field of intelligent actuation of IPMC materials, and particularly to a tubular IPMC capable of multidimensional motion and its actuation method. Background Technology

[0002] IPMC (Ionic Polymer Metal Composite) materials have attracted widespread attention from researchers both domestically and internationally in recent years due to their large deformation, low driving voltage, and light weight, leading to their extensive application in various instruments and biomimetic designs. Traditional IPMC materials have a sandwich structure; applying a driving voltage to the electrodes on both sides of the material causes the electrodes to contract and bend respectively, thus achieving autonomous guidance. This has led to their application in biomimetic robotics engineering and biomedicine, where they are also known as artificial muscles.

[0003] With continuous research and development, IPMC materials have evolved from their original sheet-like planar structure to a columnar three-dimensional structure. The guiding function of IPMC materials has also evolved from only being able to achieve two mirror-symmetrical directions to multi-directional bending in 2-8 dimensions (Huo Kai. Research on Interventional Active Catheters Based on Columnar IPMC [D]. Nanjing University of Aeronautics and Astronautics, 2020). Even though columnar IPMC materials can achieve multi-directional bending in 2-8 dimensions, only unidirectional bending can be achieved after each application of driving voltage. Changing the bending direction requires reapplying a different voltage to the IPMC material, which is not only cumbersome but also time-consuming. Summary of the Invention

[0004] Based on the above-mentioned technical problems, the purpose of this invention is to provide a tubular IPMC capable of multidimensional motion and a driving method to achieve predetermined deformation and bending, shorten operation time, and simplify the operation process.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A tubular IPMC capable of multidimensional motion, comprising:

[0007] Tubular IPMC body;

[0008] The surface electrode array is arranged in a regular pattern on the surface of the tubular IPMC body, and each electrode sheet is independent of the others.

[0009] A wire is provided, with its two ends connected to the surface electrode group and the drive controller, respectively. The drive controller outputs an electrical signal to control the tubular IPMC to achieve multimodal motion.

[0010] Preferably, the surface electrode group comprises 4-8 electrode sheets, and the electrode sheets on the same radial cross section of the tubular IPMC constitute the surface electrode group;

[0011] The surface electrode group includes an even number of electrode plates, each of which is the same size and rectangular in shape. The long side of the rectangular electrode plate is parallel to the axis of the tubular IPMC. The electrode plates are evenly arranged in a circle on the surface of the tubular IPMC body with the axis of the tubular IPMC body as the center. Each electrode plate is connected by a separate wire and is independent when receiving signal sources.

[0012] Preferably, the electrode sheet is made of platinum.

[0013] Preferably, the drive controller is a multi-interface signal generator used for signal conditioning, capable of connecting multiple wires simultaneously, and controlling the switch to change the electrical signal output by the wire.

[0014] Preferably, the switch has three types: the first type selects the function of connecting a positive signal, the second type selects the function of not connecting a signal, and the third type selects the function of connecting a negative signal.

[0015] Preferably, the drive controller has two main signal lines, one of which transmits a positive signal and the other transmits a negative signal, and the switch is connected in parallel on the main signal line.

[0016] A method for driving a tubular IPMC capable of multidimensional motion includes: unidirectional bending, multidirectional bending - S-shaped bending, and multidimensional motion - helical motion.

[0017] Preferred,

[0018] The unidirectional bending step is as follows:

[0019] Set all wire switches of the drive controller to the no-signal state, then connect all wires, select a column of electrode plates on the same horizontal direction along the axis of the tubular IPMC, set all wire switches of the selected electrode plate to positive signal, then select another column of electrode plates that is symmetrical to the axis of the tubular IPMC, set all wire switches of the second selected electrode plate to negative signal, turn on the drive switch to realize single-mode bending motion, the number of overall motion directions is related to the number of electrode plate columns;

[0020] The multi-directional bending-S-shaped bending step is as follows:

[0021] Set all wire switches of the drive controller to the no-signal state, then connect all wires, select a column of electrode plates on the same horizontal direction along the axis on the tubular IPMC, divide this column of electrode plates into two equal parts, set all wire switches of one part of the electrode plates to positive signals, and set all wire switches of the other part to negative signals, then select another column of electrode plates that are symmetrical to the selected electrode plates along the axis, apply an electrical signal opposite to that of the symmetrical electrode plates, turn on the drive switch to realize multi-directional bending motion, the number of overall motion directions is related to the number of electrode plate columns;

[0022] The multidimensional motion-spiral step is as follows:

[0023] Set all wire switches of the drive controller to the no-signal state, then connect all wires. Select one electrode plate from a group of electrode plates, and then select the next electrode plate along a diagonal direction of the selected electrode plate. Repeat the selection until the electrode plates at both ends of the tubular IPMC are selected. The selected electrode plates are arranged in a spiral shape. Set all wire switches of the selected electrode plate to positive signals. Then select another electrode plate that is symmetrical to the above electrode plate and the axis of the tubular IPMC. Set all wire switches of the second selected electrode plate to negative signals. Turn on the driver switch to realize multi-dimensional motion. The direction of the driver bus changes the rotation direction of the tubular IPMC. The number of overall motion directions is related to the length of the tubular IPMC.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The tubular IPMC of this invention, by dividing the surface electrode group, can selectively energize different electrodes, enabling not only the unidirectional bending of previous sheet-like and columnar IPMCs, but also complex S-shaped bending and helical bending and other multi-degree-of-freedom composite motions. It has a simple structure, small size, and can meet the requirements of small size, micro-stroke and high precision operation. It has good application prospects in fields such as intelligent guidance of micro-robots and attitude control. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is an external view of a tubular IPMC;

[0028] Figure 2 This is a radial cross-sectional view of a tubular IPMC;

[0029] Figure 3 This is a side view of the tubular IPMC.

[0030] Figure 4 This is a schematic diagram of a tubular IPMC undergoing unidirectional bending.

[0031] Figure 5 A schematic diagram of the S-shaped bend of a tubular IPMC;

[0032] Figure 6 This is a schematic diagram of the spiral bend of a tubular IPMC.

[0033] In the figure: 1-1 is the tubular IPMC body, 1-2 is the surface electrode group, and 1 to 20 are electrode sheets with different serial numbers. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figures 1 to 6 The present invention provides a technical solution:

[0036] This invention discloses a tubular IPMC capable of multidimensional motion and a driving method. Under the control of the electrical signal output by the driving controller, the tubular IPMC can realize multimodal motion such as bending, folding, and twisting.

[0037] In this embodiment, combined with Figures 1 to 5 A tubular IPMC capable of multidimensional motion includes a tubular IPMC body 1-1 (1-1), a surface electrode assembly (1-2), wires, and a drive controller, as detailed in the reference. Figure 1 and Figure 2 ;

[0038] A tubular IPMC capable of multidimensional motion includes a tubular IPMC body 1-1, a surface electrode group 1-2, wires, and a drive controller;

[0039] The surface electrode groups 1-2 are arranged in a regular array on the surface of the tubular IPMC body 1-1. Each electrode is independent of the others. The two ends of the wire are connected to the surface electrode and the drive controller, respectively. Under the control of the electrical signal output by the drive controller, the tubular IPMC can realize multimodal motion such as bending, folding, and twisting.

[0040] The surface electrodes are platinum electrodes, each electrode sheet being the same size and rectangular, with the long side of the rectangular electrode parallel to the axis of the tubular IPMC. The surface electrodes are grouped on the same radial cross section of the tubular IPMC, and the number of electrodes in a group must be even, ranging from 4 to 8 pieces, arranged evenly in a circumferential array. The surface electrode groups 1-2 consist of multiple groups of circumferentially arrayed electrodes arranged in an array along the axial direction of the tubular IPMC. Each electrode is connected by a separate wire and receives signals independently.

[0041] In this embodiment, the drive controller is a multi-interface signal generator with signal conditioning capabilities. It can connect to multiple wires simultaneously and control switches to change the electrical signals output by those wires. The switches have three selection options: the first option connects to a positive signal, the second option disconnects the signal, and the third option connects to a negative signal. The drive controller has two main signal lines, one for transmitting positive signals and the other for transmitting negative signals, with the switches connected in parallel on these main signal lines.

[0042] The IPMC body (1-1) is a Nafion tube substrate without electrode plates. Electrode plates are regularly distributed on the surface of the Nafion tube substrate, with electrode plates of the same radial cross-section forming a group. Figure 3 In this design, each individual electrode is rectangular with a length-to-width ratio of 2:1. Each surface electrode group 1-2 consists of eight independent electrode pieces arranged in a uniform circular array, with a central angle of 45° between adjacent electrode pieces. There are a total of six such surface electrode groups 1-2. Each electrode piece is connected to an independent wire, one end of which is connected to the electrode piece, and the other end to the drive controller interface. The drive controller's electrical signal range is 0-5V; this invention sets the output electrical signal to 2.5V. The electrical signal transmits positive and negative signals of 2.5V respectively through the two main signal lines of the drive controller, and then is transmitted to the selected surface electrode group 1-2 through the independent wires, ultimately causing the tubular IPMC to undergo electrically actuated bending deformation.

[0043] In this embodiment, for Figure 3 The surface electrode groups 1-2 are numbered from left to right in columns 1-8 and from bottom to top in rows 1-6. The two main signal lines are numbered 1 and 2 respectively. The following is a detailed description of the three bending scenarios.

[0044] The single-direction bending driving method is as follows:

[0045] First, set the drive controller to a no-signal state to ensure safe, current-free connection of the wires. Connect all electrode plates in column 1 (1, 2, 3, 4, 5, 6) to main signal line 1, and all electrode plates in column 5 (7, 8, 9, 10, 11, 12) to main signal line 2. Set the drive controller to output a 2.5V positive signal to main signal line 1 and a 2.5V negative signal to main signal line 2. Due to the electric field generated by the positive and negative signals, contraction will occur at the positive signal location, and expansion will occur at the negative signal location. At this time, the tubular IPMC will bend unidirectionally towards the positive signal direction. Figure 4 If a 2.5V negative signal is output to the No. 1 main signal line and a 2.5V positive signal is output to the No. 2 main signal line, the tubular IPMC will undergo a unidirectional bend that is symmetrical to the above-mentioned direction.

[0046] The S-shaped bending driving method is as follows:

[0047] When the drive controller is in a no-signal state, connect surface electrode groups 1-2 with wires. Connect the three electrode pieces (1, 2, 3) in rows 1-3 of column 1 to the three electrode pieces (7, 8, 9) in rows 4-6 of column 5 to the No. 1 main signal line; connect the three electrode pieces (4, 5, 6) in rows 4-6 of column 1 to the three electrode pieces (10, 11, 12) in rows 1-3 of column 5 to the No. 2 main signal line. Then set the drive controller to output a 2.5V positive signal to the No. 1 main signal line and a 2.5V negative signal to the No. 2 main signal line. At this time, contraction occurs at the positive signal point and expansion occurs at the negative signal point, causing the tubular IPMC to bend and form an S-shape. Figure 5 If a 2.5V negative signal is output to main signal line 1 and a 2.5V positive signal is output to main signal line 2, the tubular IPMC will form an S-shape that is mirror-symmetrical to the above shape.

[0048] The spiral bending driving method is as follows:

[0049] Set the drive controller to a no-signal state. Group the electrode pieces (1) in the first row of column 1, (13) in the second row of column 2, (14) in the third row of column 3, (15) in the fourth row of column 4, (8) in the fifth row of column 5, and (16) in the sixth row of column 6 into a group. Connect each group with one end of an independent wire and then connect it to the drive controller port, belonging to the No. 1 main signal line. Then group the electrode pieces (12) in the first row of column 5, (17) in the second row of column 6, (18) in the third row of column 7, (19) in the fourth row of column 8, (5) in the fifth row of column 1, and (20) in the sixth row of column 2 into a group. Connect each group with one end of an independent wire and then connect it to the drive controller port, belonging to the No. 2 main signal line. Finally, a 2.5V negative signal is supplied to main signal line 1, and a 2.5V positive signal is supplied to main signal line 2. The tubular IPMC bends and deforms, forming a right-hand spiral bend. Figure 6 If a 2.5V positive signal is supplied to main signal line 1 and a 2.5V negative signal is supplied to main signal line 2, the tubular IPMC will form a left-hand spiral bend.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tubular IPMC capable of multidimensional motion, characterized in that, Includes a tubular IPMC body (1-1), a surface electrode assembly (1-2), wires, and a drive controller; The tubular IPMC body (1-1) is a Nafion tube substrate without electrode plates. The six sets of surface electrode groups (1-2) are arranged sequentially along the axial direction of the Nafion tube substrate. Each set of surface electrode groups (1-2) includes eight independent electrode plates evenly arranged along the circumference of the Nafion tube substrate. Each electrode plate is a platinum electrode plate, which is the same size and rectangular with a length-to-width ratio of 2:

1. The long side of the electrode plate is parallel to the axis of the Nafion tube substrate, and the central angle between two adjacent electrode plates in the circumferential direction of the Nafion tube substrate is 45°. The six groups of surface electrode groups (1-2) are numbered sequentially along the axial direction of the Nafion tube substrate as rows 1-6, and the eight electrode pieces in each group of surface electrode groups (1-2) are numbered sequentially along the circumferential direction as columns 1-8. Each of the electrode pieces is connected to the corresponding interface of the drive controller via a separate wire; The drive controller is a multi-interface signal generator capable of connecting multiple wires simultaneously, and is provided with a first total signal line and a second total signal line. The first total signal line and the second total signal line output electrical signals with opposite polarities, and the polarities of the electrical signals output by the two total signal lines can be interchanged. The drive controller enables the corresponding electrode to selectively receive the electrical signal output from the first total signal line, not receive the electrical signal, or receive the electrical signal output from the second total signal line through control switches corresponding to each independent wire, so that each electrode can receive the electrical signal independently. The drive controller, through the control switch, enables each electrode sheet to form an S-shaped bending signal connection state and a spiral bending signal connection state, wherein: In the S-shaped bend signal connection state, the electrode plates in the first column and rows 1-3 and the electrode plates in the fifth column and rows 4-6 receive the electrical signal output by the first main signal line, the electrode plates in the first column and rows 4-6 and the electrode plates in the fifth column and rows 1-3 receive the electrical signal output by the second main signal line, and the remaining electrode plates are in a state of not receiving electrical signals; the first main signal line and the second main signal line output electrical signals with opposite polarities, so that the tubular IPMC body (1-1) forms an S-shaped bend; by interchanged, the polarities of the electrical signals output by the first main signal line and the second main signal line are interchanged, so that the tubular IPMC body (1-1) forms an S-shaped bend that is mirror-symmetrical to the aforementioned S-shaped bend; In the spiral-shaped bend signal connection state, the electrode plates in the first column, first row, second column, third column, fourth column, fifth column, and sixth column receive the electrical signal output by the first total signal line; the electrode plates in the fifth column, first row, sixth column, second row, seventh column, third column, eighth column, fourth row, first column, fifth row, and second column, sixth row receive the electrical signal output by the second total signal line; the remaining electrode plates are in a state of not receiving electrical signals; the first total signal line and the second total signal line output electrical signals with opposite polarities, so that the tubular IPMC body (1-1) forms a spiral bend; the direction of the spiral bend is changed by interchanged electrical signals output by the first total signal line and the second total signal line.

2. The tubular IPMC capable of multidimensional motion according to claim 1, characterized in that, The absolute values ​​of the electrical signals output by the first main signal line and the second main signal line are both 2.5V.

3. A method for driving a multidimensionally movable tubular IPMC, employing the multidimensionally movable tubular IPMC as described in claim 1 or 2, characterized in that, The six groups of surface electrodes arranged sequentially along the axial direction of the Nafion tube substrate are numbered from one end of the Nafion tube substrate to the other as rows 1-6, and the eight electrode pieces in each group of surface electrodes are numbered from column 1-8 along the circumferential direction; the drive controller executes one of the following bending modes: unidirectional bending mode, S-shaped bending mode, or spiral bending mode according to the predetermined deformation of the tubular IPMC. In the single-direction bending mode, each of the control switches is set to a state where it is disconnected from both the first total signal line and the second total signal line. A column of electrode plates arranged along the axial direction of the Nafion tube substrate is selected and connected to the first total signal line. Another column of electrode plates symmetrical about the axis of the Nafion tube substrate is selected and connected to the second total signal line. This causes the first total signal line and the second total signal line to output electrical signals with opposite polarities, thereby causing the tubular IPMC to bend in a single direction. In the S-shaped bending mode, each of the control switches is set to a state where it is disconnected from both the first and second total signal lines. A column of electrode sheets arranged along the axial direction of the Nafion tube substrate is selected and divided into a first part and a second part along the axial direction. The first part is connected to the first total signal line, and the second part is connected to the second total signal line. Another column of electrode sheets symmetrical to the column of electrode sheets about the axis of the Nafion tube substrate is selected. The electrode sheets in the other column of electrode sheets corresponding to the first part are connected to the second total signal line, and the electrode sheets corresponding to the second part are connected to the first total signal line. The first and second total signal lines output electrical signals of opposite polarity to cause the tubular IPMC to bend in an S-shape. In the spiral bending mode, each of the control switches is set to be disconnected from both the first and second total signal lines. The electrode plates in the first row of column 1, the second row of column 2, the third row of column 3, the fourth row of column 4, the fifth row of column 5, and the sixth row of column 6 are selected as the first group of electrode plates. The electrode plates in the first row of column 5, the second row of column 6, the third row of column 7, the fourth row of column 8, the fifth row of column 1, and the sixth row of column 2 are selected as the second group of electrode plates. The first group of electrode plates is connected to the first total signal line, and the second group of electrode plates is connected to the second total signal line. The first and second total signal lines output electrical signals of opposite polarities to cause the tubular IPMC to produce a spiral bend. The direction of the spiral bend is changed by interchangeing the polarities of the electrical signals output by the first and second total signal lines.

4. The method for driving a multidimensionally movable tubular IPMC according to claim 3, characterized in that, In the S-shaped bending mode, the electrode plates in the first column and the first to third rows are connected to the first main signal line, and the electrode plates in the fifth column and the fourth to sixth rows are connected to the second main signal line. When the first main signal line outputs a positive signal and the second main signal line outputs a negative signal, an S-shaped bend is formed. When the first main signal line outputs a negative signal and the second main signal line outputs a positive signal, an S-shaped bend that is mirror-symmetrical to the aforementioned S-shaped bend is formed.

5. The method for driving a multidimensionally movable tubular IPMC according to claim 3, characterized in that, In the spiral bending mode, a right spiral bending is formed when the first total signal line outputs a negative signal and the second total signal line outputs a positive signal, and a left spiral bending is formed when the first total signal line outputs a positive signal and the second total signal line outputs a negative signal.

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