کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
832070 | 908115 | 2010 | 7 صفحه PDF | دانلود رایگان |
Four-bar mechanisms traditionally are made of rigid links and they are used for path, motion or function generation. Actively changing the length of the rocker in a crank rocker four-bar mechanism results in the tip of the rocker following a closed path. In this paper a crank rocker mechanism has been designed with a variable length rocker using an Ionic Polymer Metal Composite (IPMC). A pseudo rigid body model is used to represent the IPMC bending during path generation and a dynamic model is developed to relate the position of the rocker tip and the input voltage required to bend the IPMC. A simple control system has been designed that can apply a desired voltage to the IPMC using pulse width modulation, for obtaining a particular deformation. Experimental results of a path generated using the proposed mechanism is presented. This mechanism has wide application in micro robots for pick and place applications, actively controllable partially complaint mechanisms, adaptive structures, etc.
Journal: Materials & Design (1980-2015) - Volume 31, Issue 5, May 2010, Pages 2471–2477