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导电聚合物因具有能耗小、质轻、柔韧性好等优异特性,在生物机器人和生物医学设备中具有广泛的应用前景。针对多层弯曲型聚吡咯导电聚合物驱动器搭建的实验系统,依据等效悬臂梁理论建立驱动器力学模型。测量驱动器施加0~1 V低电压时的基体弯曲变形量,通过研究驱动器的弯曲位移与电压、力与电压的关系,建立电压与等效均布载荷的函数关系式。实验结果表明,电压与垂直方向位移成线性关系,当电压为1 V时偏转位移可达到驱动器长度的一半,并且得出电压与应变的比例因子。最后,通过驱动器举起约为5倍自身重量的重物移动2.71 mm,验证了驱动器顶端可以承受力。
Conductive polymers have a wide range of applications in biological robots and biomedical devices due to their excellent characteristics such as low energy consumption, light weight and good flexibility. Aiming at the experimental system of multi-layer curved polypyrrole conductive polymer driver, the mechanical model of the actuator is established based on equivalent cantilever theory. The bending deformation of the base was measured when the driver applied 0 ~ 1 V low voltage. The relationship between the voltage and the equivalent uniform load was established by studying the relationship between the displacement of the driver and the voltage, force and voltage. The experimental results show that the voltage is linear with the displacement in the vertical direction. When the voltage is 1 V, the deflection displacement can reach half of the actuator length, and the voltage and strain scale factor can be obtained. Finally, 2.71 mm was removed by lifting the weight about 5 times its own weight with the drive, verifying that the top of the drive could withstand force.