Design, Analysis, and Control of a Novel Safe Cell Micromanipulation System With IPMC Actuators

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
A. J. McDaid ◽  
E. Haemmerle ◽  
S. Q. Xie ◽  
K. C. Aw
Keyword(s):  
Degrees Of Freedom ◽  
Modular Design ◽  
Vertical Motion ◽  
Design Analysis ◽  
Metal Composite ◽  
Mechanism Model ◽  
Module Design ◽  
Model Free ◽  
Polymer Metal ◽  
And Control

This paper presents the design, analysis, and control of a novel micromanipulation system to facilitate the safe handling/probing of biological cells. The robotic manipulator has a modular design, where each module provides two degrees-of-freedom (2DOF) and the overall system can be made up of a number of modules depending on the desired level of dexterity. The module design has been optimized in simulation using an integrated ionic polymer-metal composite (IPMC) model and mechanical mechanism model to ensure the best system performance from the available IPMC material. The optimal system consists of two modules with each DOF actuated by a 27.5 mm long by 10 mm wide actuator. A 1DOF control structure has been developed, which is adaptively tuned using a model-free iterative feedback tuning (IFT) algorithm to adjust the controller parameters to optimize the system tracking performance. Experimental results are presented which show the tuning of the system improves the performance by 24% and 64% for the horizontal and vertical motion, respectively. Experimental characterization has also been undertaken to show the system can accurately achieve outputs of up to 7 deg and results for position tracking in both axes are also presented.

scholarly journals Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
Martin J.-D. Otis
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Water Electrolysis ◽  
Laser Vibrometer ◽  
Metal Composite ◽  
Current Consumption ◽  
Polymer Metal ◽  
Multiple Frequencies ◽  
Electromechanical Characterization

This paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR). BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC), which has 2.5 degrees of freedom. The specific manufacturing process using a laser excimer for one leg in three-dimensional configurations is discussed. Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer. The use of the laser vibrometer shows the linear characteristics between the duty cycle of square wave input and displacement rate of the actuator at multiple frequencies. This linearity is used to design a servo-system in order to reproduce insect tripod walking. As well, BMR current consumption is an important parameter evaluated for each leg. Current passing throughout the IPMC membrane can result in water electrolysis. Four methods are explained for avoiding electrolysis. The hardware test bench for measurements is presented. The purpose of this design is to control a BMR for biomedical goals such as implantation into a human body. Experimental results for the proposed propulsion system are conclusive for this type of bioinspired BMR.

Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation

2012 ◽  
pp. 274-294 ◽  
Author(s):  
Wen Bin Lim ◽  
Guilin Yang ◽  
Song Huat Yeo ◽  
Shabbir Kurbanhusen Mustafa
Keyword(s):  
Modular Design ◽  
Design Analysis ◽  
Mobile Manipulator ◽  
Kinematic Modeling ◽  
Human Environment ◽  
Robotic Arms ◽  
Assistive Robot ◽  
Manageable Level ◽  
And Control ◽  
Tension Analysis

A Cable-Driven Robotic Arm (CDRA) possesses a number of advantages over the conventional articulated robotic arms, such as lightweight mechanical structure, high payload, fault tolerance, and most importantly, safe manipulation in the human environment. As such, a mobile manipulator that consists of a mobile base and a CDRA can be a promising assistive robot for the aging or disabled people to perform necessary tasks in their daily life. For such applications, a CDRA is a dexterous manipulator that consists of a number of cable-driven joint modules. In this chapter, a modular design concept is employed in order to simplify design, analysis, and control of CDRA to a manageable level. In particular, a 2-DOF cable-driven joint module is proposed as the basic building block of a CDRA. The critical design analysis issues pertaining to the kinematics analysis, tension analysis, and workspace-based design optimization of the 2-DOF cable-driven joint module are discussed. As a modular CDRA can be constructed into various configurations, a configuration-independent kinematic modeling approach based on the Product-of-Exponentials (POE) formula is proposed. The effectiveness of the proposed design analysis algorithms are demonstrated through simulation examples.

A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control

2014 ◽  
Vol 24 (1) ◽  
pp. 015007 ◽  
Author(s):  
Siul Ruiz ◽  
Benjamin Mead ◽  
Viljar Palmre ◽  
Kwang J Kim ◽  
Woosoon Yim
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control

Path Planning and Control for Underwater Vehicle Driven by an Ionic Polymer Metal Composite (IPMC) Actuator

2010 ◽  
Author(s):  
Shivakanth Gutta ◽  
Woosoon Yim ◽  
Mohamed B. Trabia
Keyword(s):  
Path Planning ◽  
Objective Function ◽  
Underwater Vehicle ◽  
Trajectory Control ◽  
Planning Problem ◽  
Metal Composite ◽  
Penalty Term ◽  
Planning And Control ◽  
Polymer Metal ◽  
And Control

This paper presents an approach for trajectory planning and control of an underwater vehicle within obstacles. The vehicle is driven by a single IPMC actuator that goes through oscillatory locomotion. The presented work is divided into kinematic path planning and trajectory control sections. In the kinematic path planning phase, the vehicle is approximated by a rectangle that encloses the largest deformation of the oscillating IPMC actuator. Obstacles are approximated by polygonal shapes that approximate their actual dimensions. To simplify the problem of collision detection, vehicle is shrunk to a line while obstacles are expanded by a half width of the rectangle representing the vehicle. Path planning problem is formulated as a nonlinear programming problem that minimizes the error between current and goal configurations of the vehicle. The objective function combines the distance to target and the orientation of the vehicle. A penalty term is added to the objective function to ensure that the vehicle is not colliding with obstacles. The obtained path is discretized with respect to time, and controlled simultaneously for the yaw angle and speed of the vehicle. These two controllers are designed based on the simulation data from the dynamic model of the IPMC propelled vehicle. This proposed approach can be used in real time implementation of vehicle trajectory control in the presence of obstacles.

scholarly journals Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 236
Author(s):  
Weijun Zhou ◽  
Yongxin Wu ◽  
Haiqiang Hu ◽  
Yanjun Li ◽  
Yu Wang
Keyword(s):  
Closed Loop ◽  
Control Law ◽  
Flexible Beam ◽  
Metal Composite ◽  
Interconnected System ◽  
Ionic Polymer ◽  
Infinite Dimensional ◽  
Proposed Model ◽  
Polymer Metal ◽  
And Control

In this paper, the infinite-dimensional port-Hamiltonian modelling and control problem of a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and the IPMC actuator. The mechanical flexible dynamic is modelled as a Timoshenko beam, and the electric dynamics of the IPMCs are considered in the model. Furthermore, a passivity-based control-strategy is used to obtain the desired configuration of the proposed interconnected system, and the closed-loop stability is analyzed using the early lumped approach. Lastly, numerical simulations and experimental results are presented to validate the proposed model and the effectiveness of the proposed control law.

A Twistable Ionic Polymer-Metal Composite Artificial Muscle for Marine Applications

2011 ◽  
Vol 45 (4) ◽  
pp. 83-98 ◽  
Author(s):  
Kwang J. Kim ◽  
David Pugal ◽  
Kam K. Leang
Keyword(s):  
Degrees Of Freedom ◽  
Large Strain ◽  
Aqueous Environment ◽  
Driving Voltage ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
External Stimulation ◽  
Ionic Polymer ◽  
Electromechanical Transduction ◽  
Polymer Metal

AbstractIonic polymer-metal composite (IPMC) artificial muscles (AMs), due to their low driving voltage (<5 V), large strain, soft and flexible structure, and ability to operate in an aqueous environment, are suited for creating artificial fish-like propulsors that can mimic the undulatory, flapping, and complex motions of fish fins. Herein, a newly developed IPMC AM fin with patterned electrodes is introduced for realizing multiple degrees-of-freedom motion, such as bending and twisting. Also, by carefully creating isolated patterns of electrodes on the surface of the polymer-metal composite, sections of the composite can function as an actuator, while other areas can be used for sensing fin deformation and responses to external stimulation. The manufacturing, modeling, and characterization of a twistable AM fin are discussed. The sectored electrode pattern on the AM fin is created using two techniques: masking and surface machining. Using first principles, detailed models are developed to describe the electromechanical transduction for the IPMC AM fin. These models can be used to guide the development of more complex AM fin geometries and electrode patterns. The bending and twisting performance of a prototype twistable AM fin is evaluated and compared to the models. Experimental results demonstrate good twisting response for a prototype fin. Technical design challenges and performance limitations are also discussed.

scholarly journals 3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
James D. Carrico ◽  
Tucker Hermans ◽  
Kwang J. Kim ◽  
Kam K. Leang
Keyword(s):  
Machine Learning ◽  
3D Printing ◽  
Bayesian Optimization ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Printing Process ◽  
Ionic Polymer ◽  
Control Paradigm ◽  
Polymer Metal ◽  
And Control

AbstractThis paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted.

Fractional-order modeling and control of ionic polymer-metal composite actuator

2019 ◽  
Vol 28 (8) ◽  
pp. 084008 ◽  
Author(s):  
Aleksei Tepljakov ◽  
Veiko Vunder ◽  
Eduard Petlenkov ◽  
S Sunjai Nakshatharan ◽  
Andres Punning ◽  
...  
Keyword(s):  
Fractional Order ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Modeling And Control ◽  
Ionic Polymer ◽  
Composite Actuator ◽  
Polymer Metal ◽  
And Control
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