Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Equivalent Beam and Equivalent Bimorph Beam Models for ionic Polymer-Metal Composite Actuators

등가 보 및 등가 바이모프 보를 이용한 IPMC 작동기 모델링

  • 이상기 (건국대학교 항공우주공학과) ;
  • 김광진 (네바다 주립대학교 기계공학과) ;
  • 윤광준 (건국대학교 항공우주공학과) ;
  • 박훈철 (건국대학교 항공우주공학과)
  • Published : 2004.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

In the present paper, equivalent beam and equivalent bimorph beam models for IPMC(ionic Polymer-Metal Composite) actuators are described. Physical properties of an IPMC, such as Young's modulus and electro-mechanical coupling coefficient. are determined from the rule of mixture, bimorph beam equations, and measured force-displacement data of a cantilevered IPMC actuator. By using a beam equation with estimated physical properties, actuation displacements of a cantilevered IPMC actuator was calculated and a good agreement between the computed tip displacements and the measured data was observed. Finite element analysis(FEA) combined with the estimated physical properties was used to reproduce the force-displacement relationship of an IPMC actuator. Results from the FEA agreed well with the measure data. The proposed models might be used for modeling of IPMC actuators with complicated shapes and boundary conditions.

Keywords

References

  1. Y. Bar-Cohen, 'Electroactive polymer(EAP) actuators as artificial muscles - reallity, potential, and challenges,' SPIE Press, USA, 200l
  2. K. Oguro, K. Asaka and H. Takenaka, 'Actuator element,' US Patent Specification 5 268 082, 1993
  3. M. Shahinpoor, D. Adolf, D. Segalman and W. Witkowski, 'Electrically controlled polymeric gel actuators,' US Patent Specification 5 250 167, 1993
  4. M. Shahinpoor, 'Micro-electro-mechanics of Ionic polymer gels as electrically controllable artificial muscles,' Journal of Intelligent Material Systems and Structures, vol. 6, no. 3, pp. 307-317,1995 https://doi.org/10.1177/1045389X9500600302
  5. M. Shahinpoor and K. J. Kim, 'Ionic polymer-metal composites: I. fundamentals,' Smart Materials and Structures, vol. 10, pp. 819-833, 200l https://doi.org/10.1088/0964-1726/10/4/327
  6. K. J. Kim and M. Shahinpoor, 'Ionic polymer-metal composites: II. manufacturing techniques,' Smart Materials and Structures, vol. 12, pp. 65-79, 2003 https://doi.org/10.1088/0964-1726/12/1/308
  7. S. Nemat-Nasser and J. Y. Li, 'Electromechanical response of ionic polymer-metal composites,' Journal of Applied Physics, vol. 87, no. 7, pp. 3321-3331, 2000 https://doi.org/10.1063/1.372343
  8. S. Nemat-Nasser, 'Micromechanics of actuation of ionic polymer-metal composites,' Journal of Applied Physics, vol. 92, no. 5, pp. 2899-2915, 2002 https://doi.org/10.1063/1.1495888
  9. K. Newbury, 'Characterization, modeling, and control of Ionic polymer transducers,' Dissertation, Virginia Polytechnic Institute and State University, September 2002
  10. R. Kanno, A. Kurata, M. Hattori, S. Tadokoro, T. Takamori and K. Oguro, 'Characteristics and modeling of ICPF actuators,' Proceedings of the Japan-USA Symposium on Flexible Automation, vol. 2, pp. 691-698,1994
  11. Y. Xiao and K. Bhattachatya, 'Modeling electro-mechanical properties of ionic polymers,' Proceedings of the SPIE, vol. 4329, pp. 292-300,2001 https://doi.org/10.1117/12.432658
  12. R. Kanno, S. Tadokoro, T. Takamori and M. Hattori, 'Linear approximate dynamic model of ICPF actuator, ' Proceedings of the IEEE International Conference on Robotics and Automation, pp. 219-225, 1996 https://doi.org/10.1109/ROBOT.1996.503781
  13. P. DeGennes, K. Okumura, M. Shahinpoor and K. Kim, 'Mechanoelectric effects in ionic gels,' Europhysics Letters, vol. 40, no. 4.pp. 513-518, 2000 https://doi.org/10.1209/epl/i2000-00299-3
  14. S. P. Timoshenko and D. H. Young, Elements of Strength of Materials, 5th edition, Prentice Hall, 1968
  15. Q. Wang, Q. Zhang, B. Xu, R. Liu and E. Cross, 'Nonlinear piezoelectric behavior of ceramic bending mode actuators under strong electric fields,' Journal of Applied Physics, vol. 86, no. 6, pp. 3352-3360, 1999 https://doi.org/10.1063/1.371213
  16. MSC, MSC/NASTRAN User's Guide, 2001
  17. B. K. Taleghani and J. F. Campbell, ''Non-linear finite element modeling of THUNDER piezoelectric actuators,' NASA/TM1999-209322, 1999

Cited by

  1. Modeling of an IPMC Actuator-driven Zero-Net-Mass-Flux Pump for Flow Control vol.17, pp.6, 2006, https://doi.org/10.1177/1045389X06058879
  2. Polymer packaging for arrayed ionic polymer–metal composites and its application to micro air vehicle control surface vol.18, pp.11, 2009, https://doi.org/10.1088/0964-1726/18/11/115009