Bending modeling and its experimental verification for conducting polymer actuators dedicated to manipulation applications

Alici, Gürsel; Mui, Brian; Cook, Chris

doi:10.1016/j.sna.2005.10.020

Cited by 121 publications

(103 citation statements)

References 25 publications

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“…Also, whilst the ANFIS controller maintains its performance lead in the 1mm and 2mm response tests, it can be unstable in the 3mm test. This finding was unexpected and suggests that there can be a handful of reasons for this unstable behaviour including the variations in electrical, mechanical and chemical properties of these actuators [9]. With reference to the results in Tables IV -XI, we can still claim that the intelligent controllers are effective enough to command the smart actuators satisfactorily.…”

Section: Controller Robustnessmentioning

confidence: 90%

“…Electrons flow from one PPy layer to the other and electrolyte ions flow from the PVDF layer into the oxidised PPy layer, and out of the reduced PPy layer to bring charge neutrality to the system [9][10][11][12]. Conjugation, the alternating single and double carbon-carbon bonds in the polymer backbone, results in positive charge carriers upon the removal of electrons from the polymer as a result of a positive applied potential; this is the oxidation state of the redox reaction.…”

Section: A Mechanism Of Actuationmentioning

confidence: 99%

“…The osmotic expansion is closely related to the number of ions in the PPy and changes with the oxidation reduction states. The associated expansion is a significant effect and combined with ionic flow, electrostatic interactions, the length of carbon-carbon bonds and the conformational changes within the polymer cause volume change within the PPy layers and therefore an introduction of strain [9][10][11][12][13][14][15][16]. In a conjugated polymer, volume expansion will occur in the oxidation state and contract during the reduction state [11].…”

Section: A Mechanism Of Actuationmentioning

confidence: 99%

See 2 more Smart Citations

Intelligent Control of Electroactive Polymer Actuators Based on Fuzzy and Neurofuzzy Methodologies

Druitt

Alici

2014

IEEE/ASME Trans. Mechatron.

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Conjugated conducting polymer actuators, especially those based on polypyrrole (PPy), possess enormous potential for the creation of biomimetic devices, single-cell manipulators, numerous biomedical applications as well as robotics and prosthetics. This is due to their low actuation voltage, ability to operate at the macro-or microscale, large force-to-weight ratio, biocompatibility, low cost and their operation in aqueous and nonaqueous environments. This paper experimentally investigates the potential of intelligent control methodologies to improve the positional accuracy and response speed of trilayer PPy actuators. Two intelligent control techniques were designed and implemented -fuzzy logic PD+I control and neurofuzzy adaptive neural fuzzy inference system (ANFIS) control, which are fundamentally model-free control techniques. The performance of these controllers was compared to that of a conventional proportional integral derivative (PID) controller. It was found that the two intelligent control schemes significantly outperformed the conventional PID controller in both step and dynamic responses, with an improvement in rise time of at least 18 times and in settling time of at least two times. This study is the first to implement and compare fuzzy logic PD+I and neurofuzzy ANFIS PD+I intelligent control methodologies with a classical PID controller to the emerging field of conducting polymer PPy actuators and lays the groundwork for their use in functional devices. KeywordsElectroactive polymer actuators, fuzzy logic, neural networks, smart actuators

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Section: Controller Robustnessmentioning

confidence: 90%

Section: A Mechanism Of Actuationmentioning

confidence: 99%

Section: A Mechanism Of Actuationmentioning

confidence: 99%

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Intelligent Control of Electroactive Polymer Actuators Based on Fuzzy and Neurofuzzy Methodologies

Druitt

Alici

2014

IEEE/ASME Trans. Mechatron.

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“…Christophersen et al (Christophersen et al 2006) expanded the model by including strain and modulus variations along the direction of film thickness in order to obtain a tool to develop micro-actuators to achieve a specified radius of curvature. Also Alici et al (Alici et al 2006b) worked out in their approach, considering that the mechanical movements produced at a trilayer actuator were due to the charge transference occurring during redox reactions in conducting polymers. Actuator's position, rate of the movement and force generated by the actuator (Alici & Huynh 2006) were simulated.…”

Section: Bending Beam Methodsmentioning

confidence: 99%

Biomimetic Sensing – Actuators Based on Conducting Polymers

Arias‐Pardilla¹,

Otero²,

Martínez³

et al. 2012

Aspects on Fundaments and Applications of Conducting Polymers

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“…A similar approach was successfully used to model uncoated PPy benders [24], but here we treat the PPy tri-layer as if it were a homogeneous material. In the present study, equation 5 can be rewritten for coated actuators as:…”

Section: Coating Thickness (Mm)mentioning

confidence: 99%

Evaluation of encapsulating coatings on the performance of polypyrrole actuators

Naficy

Stoboi

Whitten

et al. 2013

Smart Mater. Struct.

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Conjugated polymer actuators are electroactive materials capable of generating force and movement in response to an applied external voltage. Many potential biomedical and industrial applications require these actuators to operate in a liquid environment. However, immersion of uncoated conducting polymer actuators in non-electrolyte liquids greatly reduces their operating lifetime. Here, we demonstrate the use of spray coating as an effective and simple method to encapsulate polypyrrole (PPy) tri-layer bending actuators. Poly(styrene-b-isobutylene-b-styrene) (SIBS) was used as an encapsulating, compliant spray coating on PPy actuators. A significant enhancement in actuator lifetime in both air and water was observed by encapsulating the actuators. The change in stiffness and reduction in bending amplitude for coatings of different thickness was studied. A simple beam mechanics model describes the experimental results and highlights the importance of coating compliance for actuator coatings. The model may be used to evaluate other possible encapsulating materials. 2013 IOP Publishing Ltd.

show abstract

Bending modeling and its experimental verification for conducting polymer actuators dedicated to manipulation applications

Cited by 121 publications

References 25 publications

Intelligent Control of Electroactive Polymer Actuators Based on Fuzzy and Neurofuzzy Methodologies

Intelligent Control of Electroactive Polymer Actuators Based on Fuzzy and Neurofuzzy Methodologies

Biomimetic Sensing – Actuators Based on Conducting Polymers

Evaluation of encapsulating coatings on the performance of polypyrrole actuators

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