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.

Fabrication and Characterization of IPMC Actuator for Underwater Micro Robot Propulsor

2014 ◽  
Vol 575 ◽  
pp. 716-720 ◽  
Author(s):  
M.F. Shaari ◽  
S.K. Saw ◽  
Z. Samad
Keyword(s):  
Orientation Angle ◽  
Underwater Robot ◽  
Metal Composite ◽  
Input Frequency ◽  
Ionic Polymer ◽  
Micro Robot ◽  
Polymer Metal ◽  
Fabrication And Characterization ◽  
Different Thickness

The usage of Ionic Polymer-Metal Composite (IPMC) actuator as the propulsor for underwater robot has been worked out by many scientists and researchers. IPMC actuator had been selected due to its advantages such as low energy consumption, low operation noise and ability to work underwater. This paper presents the fabrication and characterization of the IPMC actuator. The IPMC actuator samples had been fabricated using electroless plating for three different thickness and lengths. The characterization was conducted to determine the influence of the thickness, length, input frequency, drive voltage and orientation angle on the tip force and output frequency. The results show that IPMC thickness has significant influence on the tip force generation and lower input frequency would results wider displacement. The recorded results are essential as future reference in developing the propulsor for the underwater robot.

Fabrication and characterization of an ionic polymer-metal composite bending sensor

2017 ◽  
Vol 25 (12) ◽  
pp. 1205-1211 ◽  
Author(s):  
Dae Seok Song ◽  
Dong Gyun Han ◽  
Kyehan Rhee ◽  
Dong Min Kim ◽  
Jae Young Jho
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Fabrication And Characterization ◽  
Bending Sensor

Characterization of the harvesting capabilities of an ionic polymer metal composite device

2007 ◽  
Vol 17 (1) ◽  
pp. 015009 ◽  
Author(s):  
J Brufau-Penella ◽  
M Puig-Vidal ◽  
P Giannone ◽  
S Graziani ◽  
S Strazzeri
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal

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.

Characterization of Sectored-Electrode IPMC-Based Propulsors for Underwater Locomotion

2011 ◽  
Author(s):  
Joel J. Hubbard ◽  
Maxwell Fleming ◽  
Kam K. Leang ◽  
Viljar Palmre ◽  
David Pugal ◽  
...  
Keyword(s):  
Experimental Study ◽  
Power Consumption ◽  
Robotic System ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Marine Systems ◽  
Polymer Metal ◽  
Fish Fins

Ionic polymer-metal composite (IPMC) actuators with sectored (patterned) electrodes have been fabricated for realizing bending and twisting motion. Such IPMCs can be used to create next-generation artificial fish-like propulsors that can mimic the undulatory, flapping, and complex motions of real fish fins. Herein, a thorough experimental study is performed on sectored IPMCs to characterize their performance. Specifically, results are presented to show (1) the achievable twisting response; (2) blocking force and torque; (3) power consumption and effectiveness; and (4) propulsion characteristics. The results can be utilized to guide the design of practical marine systems driven by IPMC propulsors. The design of an example underwater robotic system is also described which employs the IPMC actuators, and the performance of the robotic system is reported.

scholarly journals Experimental Characterization of Ionic Polymer Metal Composite as a Novel Fractional Order Element

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Riccardo Caponetto ◽  
Salvatore Graziani ◽  
Fulvio L. Pappalardo ◽  
Francesca Sapuppo
Keyword(s):  
Fractional Order ◽  
Electrical Characterization ◽  
Input Voltage ◽  
Metal Composite ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Thin Membranes ◽  
Fixed Input

Ionic polymer metal composites (IPMCs) are electroactive materials made of ionic polymer thin membranes with platinum metallization on their surfaces. They are interesting materials due to not only their electromechanical applications as transducers but also to their electrochemical features and the relationship between the ionic/solvent current and the potential field. Their electrochemical properties thus suggest the possibility for exploiting them as compact fractional-order elements (FOEs) with a view of defining fabrication processes and production strategies that assure the desired performances. In this paper, the experimental electrical characterization of a brand new IPMC setup in a fixed sandwich configuration is proposed. Two IPMC devices with different platinum absorption times (5 h and 20 h) are characterized through experimental data: first, a preliminary linearity study is performed for a fixed input voltage amplitude in order to determine the frequency region where IPMC can be approximated as linear; then, a frequency analysis is carried out in order to identify a coherent fractional-order dynamics in the bode diagrams. Such analyses take the first steps towards a simplified model of IPMC as a compact electronic FOE for which the fractional exponent value depends on fabrication parameters as the absorption time.

scholarly journals Axial Motion Characterization of a Helical Ionic Polymer Metal Composite Actuator and Its Application in 3-DOF Micro-Parallel Platforms

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 248
Author(s):  
Yuwei Wu ◽  
Min Yu ◽  
Qingsong He ◽  
David Vokoun ◽  
Guoxiao Yin ◽  
...  
Keyword(s):  
Solid Mechanics ◽  
Electrochemical Characteristics ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Voltage Range ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Motion Characterization ◽  
Three Degree Of Freedom

In this work, a helical ionic polymer metal composite (IPMC) was fabricated by thermal treatment in a mold with helix grooves. The axial actuation behaviors of the helical IPMC actuator were observed, and the electromechanical and electrochemical characteristics were evaluated. The experimental results showed that as the voltage increased and the frequency decreased, the axial displacement, axial force, and electric current of the actuator all increased. Compared with square wave and sinusoidal signals, the actuator exhibited the most satisfactory motion under the direct current (DC) signal. For the electrochemical test, as the scanning rate decreased, the gravimetric specific capacitance increased. Within a suitable voltage range, the actuator was chemically stable. In addition, we coupled the Electrostatics module, Transport of Diluted Species module, and Solid Mechanics module in COMSOL Multiphysics software to model and analyze the helical IPMC actuator. The simulation data obtained were in good agreement with the experimental data. Finally, by using three helical IPMC actuators as driving components, an innovative three-degree-of-freedom (3-DOF) micro-parallel platform was designed, and it could realize a complex coupling movement of pitch, roll, and yaw under the action of an electric field. This platform is expected to be used in micro-assembly, flexible robots, and other fields.

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