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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 국제구조공학회 Smart Structures and Systems, An International Journal Smart Structures and Systems, An International Journal Vol.24 No.2
- 발행연도
- 2019.1
- 수록면
- 223 - 231 (9page)
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초록· 키워드
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The properties of Electroactive Polymer (EAP) materials are attracting the attention of engineers and scientists from many different disciplines. From the point-of-view of robotics, Ionic Polymer Metal Composites (IPMC) belong to the most developed group of the EAP class. To allow effective design of IPMC-actuated mechanisms with large induced strains, it is necessary to have adequate analytical tools for predicting the behavior of IPMC actuators as well as simulating their response as part of prototyping methodologies. This paper presents a novel IPMC motor construction. To simulate the bending behavior that is the dominant phenomenon of motor movement process, a nonlinear model is used. To accomplish the motor design, the IPMC model was identified via a series of experiments. In the proposed model, the curvature output and current transient fields accurately track the measured responses, which is verified by measurements. In this research, a three-dimensional Finite Element Method (FEM) model of the IPMC motor, composed of IPMC actuators, simultaneously determines the mechanical and electrical characteristics of the device and achieves reliable analysis results. The principle of the proposed drive and the output signals are illustrated in this paper. The proposed modelling approach can be used to design a variety of controllers and motors for effective micro-robotic applications, where soft and complex motion are required.
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참고문헌 (32)
참고문헌 신청
Jakub Bernat / 2017 / SDRE controller considering Multi Observer applied to nonlinear IPMC model / Smart Structures and Systems, An International Journal 20(1):1~10
Bernat, J. / 2013 / The fem analysis of electromagnetic torque of hybrid stepper motor with different load / Electrical Review 89(7):186~189
Bernat, J. / 2014 / Adaptive control of permanent magnet synchronous motor with constrained reference current exploiting backstepping methodology / Proceedings of the IEEE Conference on Control Applications (CCA)
Bhattacharya, S. / 2016 / Soft robotic finger fabrication with pdms and ipmc actuator for gripping / SAI Computing Conference (SAI)
Chen, Z. / 2009 / A nonlinear, control-oriented model for ionic polymer-metal composite actuators / Smart Mater. Struct 18(5)
Bernat, J. / 2013 / The fem analysis of electromagnetic torque of hybrid stepper motor with different load / Electrical Review 89(7):186~189
Bernat, J. / 2014 / Adaptive control of permanent magnet synchronous motor with constrained reference current exploiting backstepping methodology / Proceedings of the IEEE Conference on Control Applications (CCA)
Bhattacharya, S. / 2016 / Soft robotic finger fabrication with pdms and ipmc actuator for gripping / SAI Computing Conference (SAI)
Chen, Z. / 2009 / A nonlinear, control-oriented model for ionic polymer-metal composite actuators / Smart Mater. Struct 18(5)
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Structural modeling of actuation of IPMC in dry environment: effect of water content and activity
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Correlation of IPMC counter ion with organic cations in ionic liquid medium and performance evaluation
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Structural modeling of actuation of IPMC in dry environment: effect of water content and activity
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Study on Grasping Performance of Finger Exoskeleton Actuated by Electroactive Polymers
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Characterization and performance of Nafion-based IPMC with piperidinium and pyridinium ions in deuterated water medium
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Nonlinear large deformation dynamic analysis of electroactive polymer actuators
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Nonlinear large deformation dynamic analysis of electroactive polymer actuators
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