Active Vibration Control Strategy for a Single-Link Flexible Manipulator Using Ionic Polymer Metal Composite

Bandopadhya, Dibakar; Bhattacharya, Bishakh; Dutta, Ashish

doi:10.1177/1045389x07076277

Cited by 14 publications

(11 citation statements)

References 17 publications

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“…Newbury and Leo reported that response of IPMCs is initial condition dependent including pre-imposed/initial curvature [37]. Radius of curvature ρ can be approximately determined at a given tip displacement s (6) and (b) Equivalent coupling coefficient b d 31 by equation (7) where κ and L are the curvature and length of the strip, respectively [38]. For the case of initial curvature, s 0 is the initial tip displacement prior to actuation.…”

Section: Finite Element Simulations Of Curved Ipmc Actuators-effect Omentioning

confidence: 99%

“Equivalent” Electromechanical Coefficient for IPMC Actuator Design Based on Equivalent Bimorph Beam Theory

Çilingir

Papila

2010

Exp Mech

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This paper addresses an "equivalent" electromechanical coupling coefficient that may be used in designing Ionic Polymer Metal Composite (IPMC) actuators. The coefficient is not a material constant and derived from equivalent bimorph beam model. The collective effect of the membrane thickness and operating voltage on the coefficient is demonstrated by using a design of experiment (DOE) of three and five levels of the two factors, respectively. Experiments and linear finite element analyses with MD.NASTRAN at DOE points are performed. The tip displacement and the coupling coefficient are reported and their response surface (RS) approximations as function of the thickness and voltage are constructed. Experiments and RS predictions indicate that actuator thickness and applied voltage are two interacting major factors for maximum tip displacement. The equivalent coupling coefficient is primarily driven by the thickness of actuator moreover voltage appears to contribute as the thickness increases. The initial curvature of the strips before electrical excitation is also shown to be a factor for "equivalent" coupling coefficient, it is not, however sufficient to explain the variation in the experimental data. A correction factor approach is proposed and applied to the straight beam tip displacement RS that filters out experimental variation. A corrected RS enables including the pre-imposed initial curvature as design parameter along with the actuator thickness and the operating peak voltage when predicting the tip displacement and the equivalent coupling coefficient.

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Section: Finite Element Simulations Of Curved Ipmc Actuators-effect Omentioning

confidence: 99%

“Equivalent” Electromechanical Coefficient for IPMC Actuator Design Based on Equivalent Bimorph Beam Theory

Çilingir

Papila

2010

Exp Mech

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“…The details of the controller design are discussed in Ref. [21]. Sensor data is collected by PC interfaced DAQ-PCI-6251 and NI-DAQmx (supplied by National Instrumentation) with signal conditioner.…”

Section: Methodsmentioning

confidence: 99%

“…Two patches of IPMC are used to actively damp the vibration of flexible link. A distributed active strain is generated by driving the required voltage through the IPMC when it is used as active damper [21][22]. Figure 6 shows both the undamped and damped response of the flexible link for square torque input.…”

Section: Simulationsmentioning

confidence: 99%

“…Two IPMC actuators are utilised for considering the first two modes of vibration. It is found that first two modes of the flexible link take the maximum amount of energy [20][21]. To meet the requirements for pointing accuracy; flexible body parameters such as elastic displacement are of great importance for control tasks and should be continuously identified in the working environment.…”

Section: Introductionmentioning

confidence: 99%

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A Study on the Effects of Kalman Filter on Performance of IPMC-Based Active Vibration Control Scheme

Bandopadhya

Njuguna

2010

IEEE Trans. Contr. Syst. Technol.

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This paper evaluates the effectiveness and performance of Ionic Polymer Metal Composite (IPMC) based active vibration control scheme equipped with the Kalman estimation algorithm. To assess the vibration attenuation efficiency, a rotating flexible manipulator has been modelled integrating two IPMC actuators following the modal approach. The elastic displacements as generalized coordinates for estimating optimal performance is carried out next by discretizing the elastic motion through the assumed mode technique and applying the Kalman filter. Simulations are then performed to demonstrate effective vibration attenuation using both IPMC and the Kalman filter. Kalman filter is employed for the whole vibrating system taking into account of the bending moment generated by the IPMC actuator. Experiment is conducted for the proposed damping scheme and the results are compared and verified with the simulation results.

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“…22 Active vibration and noise control of distributed parameter flexible systems with delay were also investigated. 23,24…”

Section: Introductionmentioning

confidence: 99%

Application of Lambert W-function for solving time-delayed response of smart material actuator under alternating electric potential

Bandopadhya

2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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An active actuator of electro-active polymer (EAP), i.e. ionic polymer metal composite (IPMC), is subjected to alternating electric potential to investigate and study the time-delayed vibration characteristics. A generalized mathematical model of the actuator is obtained assuming multi-mode excitation and applying the Hamilton’s principle. Lambert W-function is then applied and a closed form solution of the transcendental characteristic equation of delay differential equation (DDE) is obtained. Delay differential equations (DDEs) are then solved taking into account the experimental data and physical properties of IPMC, and the results are discussed and validated.

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Active Vibration Control Strategy for a Single-Link Flexible Manipulator Using Ionic Polymer Metal Composite

Cited by 14 publications

References 17 publications

“Equivalent” Electromechanical Coefficient for IPMC Actuator Design Based on Equivalent Bimorph Beam Theory

“Equivalent” Electromechanical Coefficient for IPMC Actuator Design Based on Equivalent Bimorph Beam Theory

A Study on the Effects of Kalman Filter on Performance of IPMC-Based Active Vibration Control Scheme

Application of Lambert W-function for solving time-delayed response of smart material actuator under alternating electric potential

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