A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics

Study of the Influence of the Hydration Level on the Electromechanical Behavior of Nafion Based Ionomeric Polymer-metal Composites Actuators

“…After an abrupt increase (F max ), the bending force decreased slowly until it stabilizes at a plateau. Similar patterns were presented in several references 3,13,14,17,19 . According to the references 1,4,18 , the charge transport in Nafion-like polymer are strongly associated to the ionic current which plays an important role on the bending mechanism of IPMC as discussed previously.…”

Finite element analysis of two-dimensional electrochemical–mechanical response of ionic conducting polymer–metal composite beams

“…Nemat-Nasser [7] attempted to identify potential micromechanisms responsible for the observed electromechanical behavior of IPMCs, in which the stiffness of both bare and IPMC membrane is estimated as functions of the water uptake. Tadokoro et al [8] extended the model proposed in [5] to the two-dimensional case in order to make possible the motion analysis of molluskan robots consisting of arbitrary membrane, but they conducted only one-dimensional simulations. Tamagawa et al [9] proposed a simple method to estimate the time-dependent nominal YoungÕs moduli and generated force in experiments.…”

“…In the present computational study, the following electrochemicalmechanical mechanism [5,6,8] is assumed as the physical basis of the governing equations to be solved by the finite element method, which is briefly explained for the case of only one pair of electrodes (the upper and the lower electrodes in Fig. 1(a)).…”

“…1(a), which has not yet been computationally analyzed in the existing literatures [2][3][4][5][6][7][8][9][10]. The electrochemical response upon applied electric voltage is assumed to be uniform in the axial direction of the beam.…”

“…The electrochemical response upon applied electric voltage is assumed to be uniform in the axial direction of the beam. The two-dimensional basic equations governing the electrochemical behavior in a cross-section of the IPMC beam were derived by Tadokoro et al [8], which are slightly simplified in the present study according coefficient of viscosity for hydrated Na + g 2 coefficient of viscosity for free water molecules q w density of hydrated Nafion membrane to the concept of the forward motion and the backward motion given by Popovic and Taya [6]. The governing two-dimensional equations for the forward motion and the backward motion are discretized by the Galerkinbased finite element method [11].…”