Active Vibration Suppression of a Flexible Link Using Ionic Polymer Metal Composite

Bandopadhya, Dibakar; Bhogadi, Dileep; Bhattacharya, Bishakh; Dutta, Ashish

doi:10.1109/ramech.2006.252638

Cited by 18 publications

(13 citation statements)

References 7 publications

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“…in active damping of structures, robotic grippers, structural health monitoring, flapping propellers, etc. [3,5,6,20]. The following conclusions are drawn from this analyses:…”

Section: Discussionmentioning

confidence: 70%

An electromechanical model for characterizing sensing and actuating performance of unimorphs based on “plain” dielectric polymers

Racherla

2011

Sensors and Actuators A: Physical

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“…in active damping of structures, robotic grippers, structural health monitoring, flapping propellers, etc. [3,5,6,20]. The following conclusions are drawn from this analyses:…”

Section: Discussionmentioning

confidence: 70%

An electromechanical model for characterizing sensing and actuating performance of unimorphs based on “plain” dielectric polymers

Racherla

2011

Sensors and Actuators A: Physical

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“…It is observed that two patches of IPMC have reduced the vibration around 75-85% quantitatively. A single loop PD controller has also been studied in (Bandopadhya, 2006). From sensor 1, and sensor 2, it is observed that in sensor 1, strain in terms of voltage is larger as the bending moment increases from tip of the rotating link toward the hub and reaches maximum at the hub.…”

Section: Resultsmentioning

confidence: 99%

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

Bandopadhya

Bhattacharya

Dutta

2007

Journal of Intelligent Material Systems and Structures

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Ionic polymer metal composites (IPMC) are a class of electro-active polymers (EAP) that produce mechanical strain in response to electrical stimulation and vice versa. The property of generating high strains with low actuation voltage makes IPMC suitable for mechanical actuators in applications involving control of high-amplitude vibration. This article describes results on an application of IPMC as an active damper for large deflection vibration control of a single link rotating flexible manipulator. Modeling of the flexible rotating link has been done using modal approach and it was found that the first two modes of vibration take the maximum amount of energy. Based on this, two IPMC actuators were fixed at suitable positions on the link to suppress vibrations. A dynamic model of the link with IPMC was derived and a distributed PD controller designed to actuate the IPMC to control the vibration of the flexible link. Simulations were first done to demonstrate the effectiveness of IPMC and then experiments are conducted to validate the results. The results prove that IPMC can be used as an active damper for suppressing vibration in a flexible link manipulator.

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“…They usually describe only the motion of the tip or the bending radius of the device assuming that the bending radius is constant. The equipment used to measure these parameters are for instance laser position sensors or force gauges (Jung et al, 2003;Richardson et al, 2003;Bandopadhya et al, 2006).…”

Section: Characterization Of the Actuatormentioning

confidence: 99%

A Distributed Model of Ionomeric Polymer Metal Composite

Punning

Johanson

Anton

et al. 2009

Journal of Intelligent Material Systems and Structures

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This article presents a novel model of an ionomeric polymer metal composite (IPMC) material. An IPMC is modeled as a lossy RC distributed line. Unlike other electro-mechanical models of an IPMC, the distributed nature of our model permits modeling the non-uniform bending of the material. Instead of modeling the tip deflection or uniform deformation of the material, we model the changing curvature. The transient behavior of the electrical signal as well as the transient bending of the IPMC are described by partial differential equations. By implementing the proper initial and boundary conditions we develop the analytical description of the possibly non-uniform transient behavior of an IPMC consistent with the experimental results.

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Active Vibration Suppression of a Flexible Link Using Ionic Polymer Metal Composite

Cited by 18 publications

References 7 publications

An electromechanical model for characterizing sensing and actuating performance of unimorphs based on “plain” dielectric polymers

An electromechanical model for characterizing sensing and actuating performance of unimorphs based on “plain” dielectric polymers

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

A Distributed Model of Ionomeric Polymer Metal Composite

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