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首页> 外文期刊>Smart Materials & Structures >The highly stable air-operating ionic polymer metal composite actuator with consecutive channels and its potential application in soft gripper
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The highly stable air-operating ionic polymer metal composite actuator with consecutive channels and its potential application in soft gripper

机译：具有连续通道的高度稳定的空气操作离子聚合物金属复合致动器及其在软夹具中的潜在应用

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摘要

In this study, a highly stable air-operating ionic polymer-metal composite (IPMC) actuator with consecutive channels suitable for transportation of the cations and anions of ionic liquids was prepared by introducing and removing copper foam. The electromechanical properties of this novel porous IPMC were investigated. Scanning electron microscopy observation showed that channels and pores ranging in size from similar to 100 nm to similar to 50 mu m were distributed in the Nafion membrane. The porous IPMC was doped with 1-ethyl-3-methylimidazolium thiocyanate ionic liquid. A larger capacitance (285.00 mF cm(-2)) was obtained, which can be attributed to the electric double layer generated at the interface between the ionic polymer membrane and platinum electrode under the input voltage. The fast ion migration channels, high conductivity, and large capacitance enabled high strain of 0.051%-0.666%, a relatively large blocking force of 17.63 mN, and excellent actuation durability for more than 180 000 cycles to be achieved. Furthermore, a soft gripper consisting of a bio-inspired micropillar dry adhesive glued on one surface of the porous IPMC assembled with a mobile mechanical arm was fabricated, and the soft gripper successfully grabbed objects with various features.
机译：在该研究中，通过引入和除去铜泡沫，制备具有适于运输阳离子和离子液体的阴离子的连续通道的高度稳定的空气操作离子聚合物 - 金属复合物（IPMC）致动器。研究了这种新型多孔IPMC的机电特性。扫描电子显微镜观察显示，在氮膜中分布在类似于100nm至类似于50μm的100nm的通道和孔。多孔IPMC掺杂有1-乙基-3-甲基咪唑硫代氰酸酯离子液体。获得较大的电容（285.00mF cm（-2）），其可归因于在输入电压下在离子聚合物膜和铂电极之间的界面处产生的电双层。快速离子迁移通道，高导电性和大电容使得高应变为0.051％-0.666％，相对大的阻塞力为17.63mn，致动耐久性优异，达到180 000次循环。此外，制造了一种软夹具，由生物启发的微米干粘合剂组成，胶合在与移动机械臂组装的多孔IPMC的一个表面上粘合，软夹具成功地抓住了各种特征的物体。

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