SENSING AND EXECUTION INTEGRATED BIONIC FLEXIBLE ACTUATOR AND METHOD FOR PREPARING SAME

摘要

Provided are a sensing and execution integrated bionic flexible actuator and a method for preparing same. The flexible actuator comprises: an IPMC actuating layer, an adhesive layer provided on the IPMC actuating layer, and a bionic strain sensing element provided on the adhesive layer. The bionic strain sensing element comprises:a flexible substrate layer provided on the IPMC actuating layer, wherein a bionic V-shaped groove array is provided on the flexible substrate layer; a conductive layer provided on the flexible substrate layer; and a first electrode provided on the conductive layer. When an external vibration wave is transmitted to the bionic strain sensing element, and the output resistance of the bionic strain sensing element reaches a preset value, the IPMC actuating layer is automatically started, and is subjected to actuated bending, and further drives a bionic strain sensing element layer to deform. An actuation degree of the actuator can be indirectly learned according to an output resistance value, thereby achieving the purposes of the integration of sensing and execution, and intelligent and controllable actuation.