FROM BENDING TO LINEAR MOVEMENT A Linear Actuation Mechanism based on Conducting Polymer Actuators

摘要

The objects of this study are (i) to establish a linear actuation system based on the bending movement of conducting polymer actuators, which operate in air, and (ii) to develop a model to predict the linear displacement and force output of the actuation system, and employ the model to characterise the optimum values of the system design parameters. The linear actuation system is based on a five bar parallel mechanism with equal link lengths and a zero-length ground link, which is articulated through two bending type polymer actuators. Kinematic and force analyses of the mechanism including numerical results are presented, and its payload handling ability was experimentally evaluated. Experimental results presented demonstrate that the linear actuation system can generate linear movement accurately and a rectilinear force as a result of two bending type polymer actuators. This mechanism is offered as a lightweight, low power consuming motion and force transmission system.