As a new ionic polymer-metal composite(IPMC) for artificial muscle,the mechanical performance parameters and the relationship between the deformation and the electrical parameters of the IPMC were studied. With the di...As a new ionic polymer-metal composite(IPMC) for artificial muscle,the mechanical performance parameters and the relationship between the deformation and the electrical parameters of the IPMC were studied. With the digital speckle correlation method,the constitutive relationship of the IPMC was confirmed. With non-contact photography measurement,a cantilever setup was designed to confirm the relationship between the deformation of the IPMC film and the applied voltage. The relationship curve of tip displacement of the IPMC cantilever setup vs the voltage was achieved. The results indicate that the IPMC is isotropic,its elastic modulus is 232 MPa and Poisson ratio is 0.163. The curve achieved from the test of the tip displacement of the IPMC cantilever setup shows that the tip displacement reaches the maximum when the stimulated voltage is 5 V. And the tip displacement descends largely when the frequency of the applied voltage is between 30 mHz and 100 mHz.展开更多
Ionic polymer-metal composites (IPMCs) are especially interesting electroactive polymers because they show large a deformation in the presence of a very low driving voltage (around 1 - 2 V) and several applications ha...Ionic polymer-metal composites (IPMCs) are especially interesting electroactive polymers because they show large a deformation in the presence of a very low driving voltage (around 1 - 2 V) and several applications have recently been proposed. Normally a humid environment is required for the best operation, although some IPMCs can operate in a dry environment, after proper encapsulation or if a solid electrolyte is used in the manufacturing process. However, such solutions usually lead to increasing mechanical stiffness and to a reduction of actuation capabilities. In this study we focus on the behaviour of non-encapsulated IPMCs as actuators in dry environments, in order to obtain relevant information for design tasks linked to the development of active devices based on this kind of smart material. The non-linear response obtained in the characterisation tests is especially well-suited to modelling these actuators with the help of artificial neural networks (ANNs). Once trained with the help of characterisation data, such neural networks prove to be a precise simulation tool for describing IPMC response in dry environments.展开更多
Ion-exchange polymer-metal composite （IPMC） is a new electroactive material. It has large deformation and high force weight ratio in the presence of low voltage （〈1.5 V）. In this study a soft actuator known as ar...Ion-exchange polymer-metal composite （IPMC） is a new electroactive material. It has large deformation and high force weight ratio in the presence of low voltage （〈1.5 V）. In this study a soft actuator known as artificial muscle based on IPMC was prepared. The IPMC actuator is composed of a perfluorinated ion-exchange membrane and platinum plated on both sides of the membrane by chemical means. Experiences and some key points are introduced in preparation of the IPMC. Electromechanical behaviors of the actuator are investigated, Factors related to the actuator performance are discussed.展开更多
In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model th...In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.展开更多
The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ...The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ray using ionic polymer–metal composite(IPMC)as artificial muscles to mimic the swimming behavior of the manta ray.The robot utilizes two artificial pectoral fins to generate undulatory flapping motions,which produce thrust for the robot.Each pectoral fin consists of an IPMC muscle in the leading edge and a passive polydimethylsiloxane membrane in the trailing edge.When the IPMC is actuated,the passive polydimethylsiloxane membrane follows the bending of the leading edge with a phase delay,which leads to an undulatory flapping motion on the fin.Characterization of the pectoral fin has shown that the fin can generate flapping motions with up to 100%tip deflection and 40◦twist angle.To test the free-swimming performance of the robot,a light and compact on-board control unit with a lithium ion polymer battery has been developed.The experimental results have shown that the robot can swim at 0.067 BL/s with portable power consumption of under 2.5 W.展开更多
A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems.The motor was developed by utilizing a novel model for IP...A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems.The motor was developed by utilizing a novel model for IPMC actuators integrated with the complete mechanical model of the motor.The dynamic,nonlinear IPMC model can accurately predict the displacement and force actuation in air for a large range of input voltages as well as accounting for interactions with mechanical systems and external loads.By integrating this geometrically scalable IPMC model with a mechanical model of the motor mechanism an appropriate size IPMC strip has been chosen to achieve the required motor specifications.The entire integrated system has been simulated and its performance verified.The system has been built and the experimental results validated to show that the motor works as simulated and can indeed achieve continuous 360rotation,similar to conventional motors.This has proven that the model is an indispensable design tool for integrated IPMC actuators into real systems.This newly developed system has demonstrated the complete design process for smart material actuator systems,representing a large step forward and aiding in the progression of IPMCs towards wide acceptance as replacements for traditional actuators.展开更多
We are concerned with a model of ionic polymer-metal composite(IPMC)materials that consists of a coupled system of the Poisson and Nernst-Planck equations,discretized by means of the finite element method(FEM).We show...We are concerned with a model of ionic polymer-metal composite(IPMC)materials that consists of a coupled system of the Poisson and Nernst-Planck equations,discretized by means of the finite element method(FEM).We show that due to the transient character of the problem it is efficient to use adaptive algorithms that are capable of changing the mesh dynamically in time.We also show that due to large qualitative and quantitative differences between the two solution components,it is efficient to approximate them on different meshes using a novel adaptive multimesh hp-FEM.The study is accompanied with numerous computations and comparisons of the adaptive multimesh hp-FEMwith several other adaptive FEM algorithms.展开更多
Ionic polymer–metal composites(IPMCs)are commonly used as soft actuators due to their electromechanical response.However,the reverse phenomenon,i.e.IPMC’s ability to generate charge on application of mechanical stra...Ionic polymer–metal composites(IPMCs)are commonly used as soft actuators due to their electromechanical response.However,the reverse phenomenon,i.e.IPMC’s ability to generate charge on application of mechanical strain(mechanoelectric response),is not very well understood.The concept of mechanoelectric transduction and its dependence on complex IPMC architecture comprising of electrode,polymer and composite layer is illustrated with a phenomenological model.The impedance model takes into account the charge transport inside the polymer and layer properties in terms of their impedances.The model lucidly indicates the significance of capacitance in IPMC transduction.The impedance model is used for studying IPMC step and frequency response and the effect of IPMC capacitance on its application as energy harvester.展开更多
The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operati...The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage.Although this polymer actuator has strong potential for a next-generation artificial muscle actuator,it has been observed by many researchers that supplying actuation voltages in multiple locations is challenging.In robotic applications,a tethered operation is prohibited and the battery weight can be critical for actual implementation.In this research,the remote unit can provide necessary power and control signals to the target mobile robot units actuated by IPMCs.This research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the power.Frequency modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is located.This approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.展开更多
离子聚合物金属复合物(ionic polymer metal composite,IPMC)是一种离子型的电致动聚合物,在低电压驱动下可以产生较大的位移形变,因其柔性好、响应速度快、无噪音、与人类肌肉特性相近等特点,成为仿生驱动材料的较佳选择.针对IPMC材料...离子聚合物金属复合物(ionic polymer metal composite,IPMC)是一种离子型的电致动聚合物,在低电压驱动下可以产生较大的位移形变,因其柔性好、响应速度快、无噪音、与人类肌肉特性相近等特点,成为仿生驱动材料的较佳选择.针对IPMC材料的输出力进行测试研究,搭建了一套基于美国国家仪器(NI)公司的面向仪器系统的PCI扩展(PCI extensions for instrumentation,PXI)虚拟仪器平台的IPMC力学测试系统,通过LABVIEW开发环境编写了IPMC力测量数据的采集与分析处理软件,通过该系统可以直观得到IPMC输出力变化规律.针对商业离子基膜和自浇铸离子基膜的IPMC进行测试对比分析,得到IPMC材料的输出力变化规律.展开更多
基金Project(50575228) supported by the National Natural Science Foundation of ChinaProject(07JJ3089) supported by the Hunan Provincial Natural Science Foundation of China
文摘As a new ionic polymer-metal composite(IPMC) for artificial muscle,the mechanical performance parameters and the relationship between the deformation and the electrical parameters of the IPMC were studied. With the digital speckle correlation method,the constitutive relationship of the IPMC was confirmed. With non-contact photography measurement,a cantilever setup was designed to confirm the relationship between the deformation of the IPMC film and the applied voltage. The relationship curve of tip displacement of the IPMC cantilever setup vs the voltage was achieved. The results indicate that the IPMC is isotropic,its elastic modulus is 232 MPa and Poisson ratio is 0.163. The curve achieved from the test of the tip displacement of the IPMC cantilever setup shows that the tip displacement reaches the maximum when the stimulated voltage is 5 V. And the tip displacement descends largely when the frequency of the applied voltage is between 30 mHz and 100 mHz.
文摘Ionic polymer-metal composites (IPMCs) are especially interesting electroactive polymers because they show large a deformation in the presence of a very low driving voltage (around 1 - 2 V) and several applications have recently been proposed. Normally a humid environment is required for the best operation, although some IPMCs can operate in a dry environment, after proper encapsulation or if a solid electrolyte is used in the manufacturing process. However, such solutions usually lead to increasing mechanical stiffness and to a reduction of actuation capabilities. In this study we focus on the behaviour of non-encapsulated IPMCs as actuators in dry environments, in order to obtain relevant information for design tasks linked to the development of active devices based on this kind of smart material. The non-linear response obtained in the characterisation tests is especially well-suited to modelling these actuators with the help of artificial neural networks (ANNs). Once trained with the help of characterisation data, such neural networks prove to be a precise simulation tool for describing IPMC response in dry environments.
基金Project supported by the National Natural Science Foundation of China(Grant No.50377022)
文摘Ion-exchange polymer-metal composite （IPMC） is a new electroactive material. It has large deformation and high force weight ratio in the presence of low voltage （〈1.5 V）. In this study a soft actuator known as artificial muscle based on IPMC was prepared. The IPMC actuator is composed of a perfluorinated ion-exchange membrane and platinum plated on both sides of the membrane by chemical means. Experiences and some key points are introduced in preparation of the IPMC. Electromechanical behaviors of the actuator are investigated, Factors related to the actuator performance are discussed.
基金supported by the National Natural Science Foundation of China (Grant No. 61075100)
文摘In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.
基金supported in part by the Office of Naval Research(ONR)under the Multidisciplinary University Research Initiative(MURI)Grant N00014-08-1-0642 and the David and Lucille Packard Foundation.
文摘The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ray using ionic polymer–metal composite(IPMC)as artificial muscles to mimic the swimming behavior of the manta ray.The robot utilizes two artificial pectoral fins to generate undulatory flapping motions,which produce thrust for the robot.Each pectoral fin consists of an IPMC muscle in the leading edge and a passive polydimethylsiloxane membrane in the trailing edge.When the IPMC is actuated,the passive polydimethylsiloxane membrane follows the bending of the leading edge with a phase delay,which leads to an undulatory flapping motion on the fin.Characterization of the pectoral fin has shown that the fin can generate flapping motions with up to 100%tip deflection and 40◦twist angle.To test the free-swimming performance of the robot,a light and compact on-board control unit with a lithium ion polymer battery has been developed.The experimental results have shown that the robot can swim at 0.067 BL/s with portable power consumption of under 2.5 W.
文摘A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems.The motor was developed by utilizing a novel model for IPMC actuators integrated with the complete mechanical model of the motor.The dynamic,nonlinear IPMC model can accurately predict the displacement and force actuation in air for a large range of input voltages as well as accounting for interactions with mechanical systems and external loads.By integrating this geometrically scalable IPMC model with a mechanical model of the motor mechanism an appropriate size IPMC strip has been chosen to achieve the required motor specifications.The entire integrated system has been simulated and its performance verified.The system has been built and the experimental results validated to show that the motor works as simulated and can indeed achieve continuous 360rotation,similar to conventional motors.This has proven that the model is an indispensable design tool for integrated IPMC actuators into real systems.This newly developed system has demonstrated the complete design process for smart material actuator systems,representing a large step forward and aiding in the progression of IPMCs towards wide acceptance as replacements for traditional actuators.
基金supported by the Grant Agency of the Academy of Sciences of the Czech Republic under Grant No.IAA100760702and by the U.S.Department of Energy Research Subcontract No.00089911+1 种基金The third author acknowledges the financial support of the U.S.Office of Naval Research under Award N000140910218The fourth author acknowledges the financial support of the Estonian Ministry of Education,grant#SF0180008s08.
文摘We are concerned with a model of ionic polymer-metal composite(IPMC)materials that consists of a coupled system of the Poisson and Nernst-Planck equations,discretized by means of the finite element method(FEM).We show that due to the transient character of the problem it is efficient to use adaptive algorithms that are capable of changing the mesh dynamically in time.We also show that due to large qualitative and quantitative differences between the two solution components,it is efficient to approximate them on different meshes using a novel adaptive multimesh hp-FEM.The study is accompanied with numerous computations and comparisons of the adaptive multimesh hp-FEMwith several other adaptive FEM algorithms.
文摘Ionic polymer–metal composites(IPMCs)are commonly used as soft actuators due to their electromechanical response.However,the reverse phenomenon,i.e.IPMC’s ability to generate charge on application of mechanical strain(mechanoelectric response),is not very well understood.The concept of mechanoelectric transduction and its dependence on complex IPMC architecture comprising of electrode,polymer and composite layer is illustrated with a phenomenological model.The impedance model takes into account the charge transport inside the polymer and layer properties in terms of their impedances.The model lucidly indicates the significance of capacitance in IPMC transduction.The impedance model is used for studying IPMC step and frequency response and the effect of IPMC capacitance on its application as energy harvester.
基金support for this work under the grant number IIS-0713075 and 0713083。
文摘The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage.Although this polymer actuator has strong potential for a next-generation artificial muscle actuator,it has been observed by many researchers that supplying actuation voltages in multiple locations is challenging.In robotic applications,a tethered operation is prohibited and the battery weight can be critical for actual implementation.In this research,the remote unit can provide necessary power and control signals to the target mobile robot units actuated by IPMCs.This research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the power.Frequency modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is located.This approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.
文摘离子聚合物金属复合物(ionic polymer metal composite,IPMC)是一种离子型的电致动聚合物,在低电压驱动下可以产生较大的位移形变,因其柔性好、响应速度快、无噪音、与人类肌肉特性相近等特点,成为仿生驱动材料的较佳选择.针对IPMC材料的输出力进行测试研究,搭建了一套基于美国国家仪器(NI)公司的面向仪器系统的PCI扩展(PCI extensions for instrumentation,PXI)虚拟仪器平台的IPMC力学测试系统,通过LABVIEW开发环境编写了IPMC力测量数据的采集与分析处理软件,通过该系统可以直观得到IPMC输出力变化规律.针对商业离子基膜和自浇铸离子基膜的IPMC进行测试对比分析,得到IPMC材料的输出力变化规律.
