CN105002087B

CN105002087B - IPMC drivings/PVDF perceives integrated mechanism

Info

Publication number: CN105002087B
Application number: CN201410156774.3A
Authority: CN
Inventors: 郝丽娜; 安震; 刘丽群
Original assignee: Northeastern University China
Current assignee: Northeastern University China
Priority date: 2014-04-18
Filing date: 2014-04-18
Publication date: 2017-09-05
Anticipated expiration: 2034-04-18
Also published as: CN105002087A

Abstract

Integrated mechanism, driving and PVDF cognition technology of this mechanism based on intellectual material IPMC are perceived the invention discloses a kind of IPMC drivings/PVDF.The creep that IPMC drives process is solved by periodicity negative feedback control algorithm, realizes that the high accuracy to IPMC, rapidity drive, solves conventional ADS driving mode shortcoming present in MEMS.Meanwhile, the characteristics of frequency response range that has with PVDF is wide, the electric converting sensitivity of power is high, the high-precision Micro-force sensors of PVDF of making are used as IPMC to drive the feedback transducer of end.IPMC and PVDF is pasted to be integrated IPMC drivings/PVDF perception integral mechanisms are made.

Description

IPMC drivings/PVDF perceives integrated mechanism

Technical field

The present invention relates to the mechanism that a kind of IPMC drivings/PVDF in the microoperations such as cell infusion perceives integration.

Background technology

The today developed rapidly in bioengineering, cell engineering and genetic engineering, the cell manipulation skill of Cell-oriented injection Art makes cytogenetics injection, gene therapy turn into a kind of possible as the technology in a forward position.In cytogenetics injection, gene , it is necessary to which manipulator is operated to individual cells in treatment and other biological medical domain.Multi-finger manipulator traditional in early days That, by liquid, air pressure driving, and this liquid, air-pressure type drive pattern have many defects, such as mechanism is relatively numerous and jumbled, Space-consuming is big, seal difficulty etc..For relatively, the manipulator driven by novel intelligent material driver has volume Small, compact conformation, No leakage, with it is extensive the advantages of.So, at present and from now on, study the driving driven by intellectual material Device turns into inexorable trend.

During cell infusion, when injection needle is not with cells contacting, vision can guide injection needle, and work as injection needle During with cells contacting, vision oneself be unable to undergo effect, it is impossible to know cell whether pass through cell membrane.In traditional operating process completely By the experience of operator, and cultivating an operator that can complete cell infusion operation needs above time half a year, operates Process is also influenceed by operator's psychological factor etc..If realizing the automation of biological micro OS, generalization, easy to operate Property, then necessarily there is an other detection means accurately to feed back injection force during cell infusion.

The content of the invention

In order to overcome the shortcomings of current technology, the purpose of the present invention is that the driveability and PVDF for utilizing IPMC good are sensitive Perceptual performance design a set of awareness driven integrated mechanism, realize high precision manipulation and the control of micro OS.

During the micro- behaviour injected for Cell-oriented does, it is proposed that a kind of actuation techniques based on intellectual material IPMC.Pass through Periodicity negative feedback control algorithm solves the creep that IPMC drives process, realizes that the high accuracy to IPMC, rapidity drive, Solve conventional ADS driving mode shortcoming present in MEMS.Meanwhile, the frequency response range that has with PVDF is wide, The characteristics of power electricity converting sensitivity is high, the high-precision Micro-force sensors of PVDF of making, the feedback sense of end is driven as IPMC Device.Two pieces of equal IPMC of dimensions length and PVDF thin film are cut, two pieces of films are encapsulated in one with plastic sheeting, are made IPMC/PVDF drivings, perception all-in-one.

The operation principle of the present invention：

（1）IPMC is a kind of artificial thews material, because its relatively low driving voltage can produce larger displacement deformation, is made It is highly suitable for the exploitation of bio-robot for a kind of new actuator.But IPMC is inputted（Voltage）With output（Tip displacement）And It is not linear relationship, but in non-linear relation.Wherein there is a kind of nonlinear characteristic, be referred to as creep properties.This characteristic Cannot widely it be applied in the presence of IPMC is made.Creep benefit is carried out to IPMC material stiffnesses using periodicity negative feedback control algorithm Repay.IPMC is effectively accomplished required positional precision by periodicity output feedback ontrol algorithm, solve the compacted of IPMC Become phenomenon；

（2）Not only dielectric constant is big by PVDF (Kynoar), and piezoelectricity and pyroelectric are stronger, and with excellent machine Tool performance, therefore one comes out and causes the numerous concern of people.PVDF have low charge response, it is easy to use, compliance and it is high The features such as sensitivity, therefore it is optimal perception material, the conduct during micro assemby of the Micro-force sensor based on PVDF Sensing device is most practical and general method.Cantilever beam is most frequent at present applies in micro- power sensing mechanisms, and this is Because cantilever beam can detect minimum power and pressure.

The effect of the present invention is to comprehensively utilize the high of PVDF to perceive characteristic and IPMC low voltage drive, and design IPMC drives Dynamic/PVDF perceives the mechanism of one.When IPMC has the flexural deformation impact of a very little, thin and flexible PVDF provides for one Very strong perceptual signal, significantly improves micro- efficiency grasped and do middle cell infusion.

Brief description of the drawings

Specification is illustrated to this patent below in conjunction with the accompanying drawings：

Fig. 1 is schematic structural view of the invention,

Fig. 2 is IPMC and PVDF thin film bar sectional view,

Fig. 3 is connection figure of the present invention.

1 is wire, and 2 be that IPMC drivings/PVDF perceives integral mechanism metal shell, and 3 be IPMC films, and 4 be probe, and 5 are PVDF thin film, 6 be packaging film.

Fig. 4 is the contrast of measured displacement data of the present invention and laser displacement sensor.

Fig. 5 is surveyed data comparison by the data and Micro-force sensor of institute's micrometer power of the present invention.

Embodiment

As shown in Fig. 2 IPMC is packaged together with PVDF by plastic sheeting, shown in Fig. 1, it is thin that probe 4 is arranged on PVDF The end of film 5 and IPMC films 3, controller adds driving voltage by wire 1 to the two ends of IPMC films 3, in driving voltage Under effect, corresponding deformation can occur for IPMC films 3, and driving probe 4 is moved.During probe 4 is moved, PVDF thin film 5 Probe 4 is perceived during microoperation by small power, perceptual signal is sent at signal conditioning circuit by PVDF thin film 5 Reason, by A/D samplings, is obtained the perception voltage of PVDF thin film 5, the power that probe 4 is subject to is calculated with this.

Claims

1. a kind of IPMC drivings/PVDF perceives integrated mechanism, its feature is being to include shielded conductor, IPMC drivings/PVDF senses Know integral mechanism metal-back, IPMC films, probe, PVDF thin film；Described shielded conductor is used to conduct driving IPMC and perception PVDF signal, IPMC drivings/PVDF perceives driving electrodes of the integral mechanism metal shell comprising IPMC and PVDF perception electricity Pole, the shielding to interference signal is contributed to packed by metal casing, including with the intellectual material IPMC of plastic sheeting compact package Film and PVDF thin film, external probe are operated；

The IPMC films of same size and PVDF thin film are integrally added water compact package, it is ensured that IPMC drive characteristic；

PC is connected with periodicity negative feedback control device, and periodicity negative feedback control device uses periodicity negative feedback control algorithm control IPMC drive circuits processed drive IPMC films, and IPMC films occur to promote probe movement after corresponding deformation；

When probe is moved, PVDF thin film perceives probe during microoperation by small power, and PVDF thin film is by perceptual signal PC is delivered to after PVDF signal conditioning circuits, data collecting card processing, so that PC calculates the power that probe is subject to；

Integrated mechanism measured displacement is perceived using the IPMC drivings/PVDF to miss compared with laser displacement sensor measured displacement Difference is between -0.5-+0.5mm；Integrated mechanism institute's dynamometry is perceived using the IPMC drivings/PVDF to be surveyed with Micro-force sensor Power is compared to error between -0.1-+0.1mN.

2. IPMC drivings according to claim 1/PVDF perceives integrated mechanism, it is characterized in that in IPMC/PVDF ends Operate probe.