Bending Curve Modeling of Ionic Polymer Metal Composites in Soft Actuator Applications
Bending Curve Modeling of Ionic Polymer Metal Composites in Soft Actuator Applications
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DOI：
10.1109/imtc.2007.379353
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发表时间：
2007-05
期刊：
影响因子：
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通讯作者：
B. Samaranayake;D. Preethichandra;A. Alahakoon;K. Kaneto
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文献类型：
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作者：
B. Samaranayake;D. Preethichandra;A. Alahakoon;K. Kaneto
离子聚合物金属复合材料（IPMC）可用于取代机电致动器的广泛应用领域，从生物医学设备到现代类人机器人的软致动器和传感器系统。ipmc所表现出的优异特性在很大程度上受其相互关联的力学、电学和化学性质的影响。然而，这使得理解物理和预测它们的行为变得复杂和困难。为了充分发挥其在先进工程中的潜力，越来越需要研究其驱动机制并获得预测其行为的方法。本文的目的是利用梁的大挠度理论对条形IPMC作动器的弯曲运动进行表征和建模。在建立了近似考虑致动器的机械、电气、化学性能和几何参数的数学模型后，对尺寸为25 mm × 2.6 mm × 0.44 mm的致动器进行了实验验证。理论和实验结果表明，该模型能够有效地预测条形ipmc驱动器沿驱动器边缘的位移输出随外加电压的变化。
Ionic polymer metal composites (IPMC) may be used to replace the electro-mechanical actuators in a vast variety of application areas ranging from biomedical devices to soft actuators and sensor systems in modern humanoid robotics. The excellent characteristics shown by IPMCs are highly influenced by their interrelated mechanical, electrical and chemical properties. However, this makes it complicated and difficult to understand the physics and predict their behavior. In order to utilize the full potentials towards advanced engineering, there is an increasing need to investigate their actuation mechanism and derive means of predicting the behavior. The object of this paper is to characterize and model the bending motion of the strip-type IPMC actuators using the theory on large deflections of beams. After deriving a mathematical model approximately accounting for mechanical, electrical, and chemical properties and geometric parameters of the actuator, the model has been experimentally verified for an actuator with the dimensions 25 mmtimes2.6 mmtimes0.44 mm. Theoretical and experimental results are presented to demonstrate that the model is effective enough to predict the displacement output of the strip type-IPMC actuator all along the edge of the actuator as a function of the applied voltage.