基于IPMC材料的柔性抓捕机构设计
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摘要
为克服传统空间飞行器在轨抓捕机构传动链多,耗能大,结构复杂等缺点,基于离子聚合物金属复合材料(IPMC)驱动电压低的特点,研制了一款五指柔性抓捕机构。通过修饰IPMC的端部,有效增加了抓捕机构的工作长度和粘附力,IPMC的柔顺特性使其在抓取物体时会贴附于被抓物体表面不会破坏物体表面结构。抓捕机构在直流±3 V的驱动电压下能够实现内收和外翻两种不同方式的抓取,消耗功率小、结构简单、操作方便,可行性得到了验证,有望应用于空间飞行器的在轨捕获系统。
To overcome the shortcomings of on-orbit grabbing mechanism in traditional spacecraft, such as many transmission chains, high energy consumption and complex structure, a five-finger flexible gripper was developed by using low driving voltage ionic polymer metal composite(IPMC). Modifying the end of IPMC could effectively increase the working length and adhesive force of the fingers. The compliant nature of IPMC enabled its adhering to the surface of the grabbed object without damaging the surface structure. Under the driving of 3 V DC voltage, the grabbing mechanism with the merits of small power, simple structure and convenient operation could realize adduction and eversion capture process, which verified the feasibility of the grabbing mechanism. Therefore, this flexible gripper may be applied to the on-orbit acquisition system of spacecraft.
To overcome the shortcomings of on-orbit grabbing mechanism in traditional spacecraft, such as many transmission chains, high energy consumption and complex structure, a five-finger flexible gripper was developed by using low driving voltage ionic polymer metal composite(IPMC). Modifying the end of IPMC could effectively increase the working length and adhesive force of the fingers. The compliant nature of IPMC enabled its adhering to the surface of the grabbed object without damaging the surface structure. Under the driving of 3 V DC voltage, the grabbing mechanism with the merits of small power, simple structure and convenient operation could realize adduction and eversion capture process, which verified the feasibility of the grabbing mechanism. Therefore, this flexible gripper may be applied to the on-orbit acquisition system of spacecraft.
引文
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[9] 彭瀚旻, 丁庆军, 李华峰, 等. IPMC型柔顺手爪作动器的设计与性能测试[J]. 光学精密工程, 2010, 18(4): 899-905.Peng H, Ding Q, Li H, et al. Design and performance tests of IPMC flexible grippers[J]. Optics and Precision Engineering, 2010, 18(4): 899-905.(in Chinese)
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[11] Shahinpoor M, Bar-Cohen Y, Simpson J O, et al. Ionic polymer-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles-a review[J]. Smart Materials and Structures, 1998, 7(6): 251-267.
[12] 王茂林, 于敏, 何青松, 等. 通过非对称电极实现IPMC单向弯曲[J]. 载人航天, 2017, 23(4): 541-545.Wang M, Yu M, He Q, et al. Realization of unidirectional bending of IPMC by asymmetric thickness of electrode[J]. Manned Spaceflight, 2017, 23(4): 541-545.(in Chinese)
[13] 王超, 董正宏, 尹航, 等. 空间目标在轨捕获技术研究综述[J]. 装备学院学报, 2013, 24(4): 63-66.Wang C, Dong Z, Yin H, et al. Research summarizing of onorbit capture technology for space target[J]. Acad E-quip, 2013, 24: 63-66.(in Chinese)
[14] Yu M, He Q, Yu D, et al. Efficient active actuation to imitate locomotion of gecko’s toes using an ionic polymer-metal composite actuator enhanced by carbon nanotubes[J]. Applied Physics Letters, 2012, 101(16): 163701.
[15] He Q, Yu M, Song L, et al. Experimental study and model analysis of the performance of IPMC membranes with various thickness[J]. Journal of Bionic Engineering, 2011, 8(1): 77-85.
[2] 介党阳, 倪风雷, 谭益松, 等. 空间网状捕获接口的等效抓捕控制[J]. 机器人, 2011, 33(5): 533-538.Jie D, Ni F, Tan Y, et al. Equivalent capture control of a space netting interface[J]. Robot, 2011, 33(5): 533-538.(in Chinese)
[3] Nakanishi H, Ogasawara K, Numata A, et al. The TAKO (target collaborativize)-flyer: a new concept for future satellite servicing[J]. Technical Report of Ieice Sane, 2001, 100(638): 9-15.
[4] 韦文书, 荆武兴, 高长生. 捕获非合作目标后航天器的自主稳定技术研究[J]. 航空学报, 2013, 34(7): 1520-1530.Wei W, Jing W, Gao C. Research automatic stability technology of spacecraft assembly with captured non-cooperative targets on orbit[J]. Acta Aeronautica et Astronautica, 2013, 34(7):1520-1530.(in Chinese)
[5] 原永亮, 杨臻, 邱枫. 一种新型空间对接抓捕机构的设计与分析[J]. 航天器环境工程, 2015, 32(6): 626-629.Yuan Y, Yang Z, Qiu F. Design and analysis of a new capture mechanism for space docking[J]. Spacecraft Environment Engineering, 2015, 32(6): 626-629.(in Chinese)
[6] 李隆球, 邵广斌, 周德开, 等. 一种长行程小型化对接机构设计与分析[J]. 载人航天, 2016, 22(6):758-765.Li L, Shao G, Zhou D, et al. Design and analysis of a long-stroke and miniaturized docking mechanism[J]. Manned Spaceflight, 2016, 22(6): 758-765.(in Chinese)
[7] 梁斌, 杜晓东, 李成, 等. 空间机器人非合作航天器在轨服务研究进展[J]. 机器人, 2012, 34(2): 242-256.Liang B, Du X, Li C, et al. Advances in space robot on-orbit servicing for non-cooperative spacecraft[J]. Robot, 2012, 34(2): 242-256.(in Chinese)
[8] Hubbard J J, Fleming M, Palmre V, et al. Monolithic IPMC fins for propulsion and maneuvering in bioinspired underwater robotics[J]. IEEE Journal of Oceanic Engineering, 2014, 39(3): 540-551.
[9] 彭瀚旻, 丁庆军, 李华峰, 等. IPMC型柔顺手爪作动器的设计与性能测试[J]. 光学精密工程, 2010, 18(4): 899-905.Peng H, Ding Q, Li H, et al. Design and performance tests of IPMC flexible grippers[J]. Optics and Precision Engineering, 2010, 18(4): 899-905.(in Chinese)
[10] Barcohen Y, Su J. Challenges to the application of IPMC as actuators of planetary mechanisms[J]. Proceedings of SPIE-The International Society for Optical Engineering, 2000, 3987: 140-146.
[11] Shahinpoor M, Bar-Cohen Y, Simpson J O, et al. Ionic polymer-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles-a review[J]. Smart Materials and Structures, 1998, 7(6): 251-267.
[12] 王茂林, 于敏, 何青松, 等. 通过非对称电极实现IPMC单向弯曲[J]. 载人航天, 2017, 23(4): 541-545.Wang M, Yu M, He Q, et al. Realization of unidirectional bending of IPMC by asymmetric thickness of electrode[J]. Manned Spaceflight, 2017, 23(4): 541-545.(in Chinese)
[13] 王超, 董正宏, 尹航, 等. 空间目标在轨捕获技术研究综述[J]. 装备学院学报, 2013, 24(4): 63-66.Wang C, Dong Z, Yin H, et al. Research summarizing of onorbit capture technology for space target[J]. Acad E-quip, 2013, 24: 63-66.(in Chinese)
[14] Yu M, He Q, Yu D, et al. Efficient active actuation to imitate locomotion of gecko’s toes using an ionic polymer-metal composite actuator enhanced by carbon nanotubes[J]. Applied Physics Letters, 2012, 101(16): 163701.
[15] He Q, Yu M, Song L, et al. Experimental study and model analysis of the performance of IPMC membranes with various thickness[J]. Journal of Bionic Engineering, 2011, 8(1): 77-85.