Modeling and identification of dynamic behavior of ionic polymer metal composites as a widely used smart material is an inevitable work. In this article, unlike other conventional methods that modeled the tip displacement or uniform deformation of the ionic polymer metal composite, we have modeled the nonuniform deformation of the ionic polymer metal composite actuator. Final target of this method is estimation and prediction of a multi-criteria dynamic mathematical model. This dynamic mathematical model has been defined in such a way that all geometrical characteristics, shape, and curvature of it are consistent with the ionic polymer metal composite characteristics in all the time. This model can be useful to extract and predict many geometrical and even physical characteristics of the ionic polymer metal composite such as torque due to the ionic polymer metal composite weight, curvature, and bending angle. Experimental results demonstrate that the proposed method is capable to identify and predict the ionic polymer metal composite nonuniform deformation and curvature trajectory accurately even in a large deformation situation.
Ionic polymer–metal composites are an emerging kind of electroactive polymer actuators, which can bend in response to a relatively low driving voltage. However, to enhance the actuation performance of ionic polymer–metal composites, some of their drawbacks should be considered. One of the most important drawbacks is “back relaxation.” The so-called back relaxation effect means, when a step input voltage is applied to the ionic polymer–metal composite, the conventional bending displacement toward the anode is followed by an unwanted and slow back relaxation toward the cathode. Control-based methods for restraining the ionic polymer–metal composite back relaxation effect are feedback-based schemes which apply significant constraints to dominant applications of ionic polymer–metal composite actuators especially in biomedical applications. In this article, we present an entirely scientific-based mathematical modeling to achieve a practical method for restraining the back relaxation effect in Nafion-based ionic polymer–metal composites, relying on creating a specific pattern on Pt layers of the ionic polymer–metal composites and applying a local Gaussian disturbance to this patterned ionic polymer–metal composites.
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