A bio-inspired multi degree of freedom actuator based on a novel cylindrical ionic polymer-metal composite material

In this work, we explore a promising electroactive polymer (EAP), called ionic polymer-metal composite (IPMC) as a material to use as a multi degree of freedom actuator. Configuration of our interest is a cylindrical IPMC with 2-DOF electromechanical actuation capability. The desired functionality w...

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Bibliographic Details
Published in2011 15th International Conference on Advanced Robotics (ICAR) pp. 435 - 440
Main Authors Kim, S. J., Pugal, D., Wong, J., Kim, K. J., Woosoon Yim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2011
Subjects
Actuators
Educational institutions
Electrodes
Force
Force measurement
Mathematical model
Polymers
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Summary:In this work, we explore a promising electroactive polymer (EAP), called ionic polymer-metal composite (IPMC) as a material to use as a multi degree of freedom actuator. Configuration of our interest is a cylindrical IPMC with 2-DOF electromechanical actuation capability. The desired functionality was achieved by fabricating unique inter-digitated electrodes. Firstly, a 3D finite element (FE) model was introduced as a design tool to validate if the concept of cylindrical actuators would work. The FE model is based upon the physical transport processes - field induced migration and diffusion of ions. Secondly, based upon the FE modeling we fabricated a prototype exhibiting desired electromechanical output. The prototype of cylindrical IPMC has a diameter of 1 mm and a 20 mm length. We have successfully demonstrated that the 2-DOF bending of the fabricated cylindrical IPMCs is feasible. Furthermore, the experimental results have given new insight into the physics that is behind the actuation phenomenon of IPMC.
ISBN:1457711583
9781457711589
DOI:10.1109/ICAR.2011.6088584