Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

Mutlu, Rahim; Alici, Gürsel; Xiang, Xingcan; Li, Weihua

doi:10.1016/j.mechatronics.2014.02.002

Cited by 22 publications

(13 citation statements)

References 29 publications

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“…Although difficult, the compliant behavior can be also modeled and numerically represented. The compliance and the mechanical behavior for DEAP (Dielectric-Electrically Actuated Polymers) type materials was modeled using the Timoshenko beam approach [9]. The general material used in lab-based DEAP was acrylic-based VHB and the normalized Young's modulus for this material was 210 kPa [10].…”

Section: Mechanical Compliancementioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

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In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications. In addition to this, initial guidelines to compare the performance and applicability of these novel actuators are provided. The meta-analysis is restricted to five main types of actuators: shape memory alloys (SMAs), fluidic elastomer actuators (FEAs), shape morphing polymers (SMPs), dielectric electro-activated polymers (DEAPs), and magnetic/electro-magnetic actuators (E/MAs). In exploring and comparing the capabilities of these actuators, the focus was on eight different aspects: compliance, topology-geometry, scalability-complexity, energy efficiency, operation range, modality, controllability, and technological readiness level (TRL). The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the suggested quantitative and qualitative criteria.

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Section: Mechanical Compliancementioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

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“…(4), the experimental data reported for two other i-EAPs are analyzed: one is Flemion and the other is polypyrrole (PPy) actuator. 27,28 Flemion is a commercial IPMC and has a response time of 10 2 s. 27 PPy is a conducting polymer, representing a different type of i-EAPs, and has a much fast response (i.e., a shorter response time). 28 The results shown in Fig.…”

mentioning

confidence: 99%

“…27,28 Flemion is a commercial IPMC and has a response time of 10 2 s. 27 PPy is a conducting polymer, representing a different type of i-EAPs, and has a much fast response (i.e., a shorter response time). 28 The results shown in Fig. 4(a) are the electromechanical response of a Flemion actuator under 3 V DC, 27 while the results shown in Fig.…”

mentioning

confidence: 99%

“…4(b) are obtained from a PPy actuator under 0.75 V DC. 28 The experimental data shown for the Flemion films was acquired from the still images published in Ref. 27 while the PPy data was acquired from a timedependent figure that displayed changes in tip-displacement angle in Ref.…”

mentioning

confidence: 99%

“…27 while the PPy data was acquired from a timedependent figure that displayed changes in tip-displacement angle in Ref. 28. Both Eqs.…”

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confidence: 99%

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Time-dependence of the electromechanical bending actuation observed in ionic-electroactive polymers

2017

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The characteristics of the electromechanical response observed in an ionic-electroactive polymer (i-EAP) are represented by the time (t) dependence of its bending actuation (y). The electromechanical response of a typical i-EAP -poly(ethylene oxide) (PEO) doped with lithium perchlorate (LP) -is studied. The shortcomings of all existing models describing the electromechanical response obtained in i-EAPs are discussed. A more reasonable model: y ¼ y max e À=t is introduced to characterize this time dependence for all i-EAPs. The advantages and correctness of this model are confirmed using results obtained in PEO-LP actuators with different LP contents and at different temperatures. The applicability and universality of this model are validated using the reported results obtained from two different i-EAPs: one is Flemion and the other is polypyrrole actuators.Keywords: i-EAP; PEO; electromechanical response; model.Electroactive polymers (EAPs), also named as artificial muscles, are a newly developed type of polymeric materials exhibiting giant electromechanical response.1,2 EAPs are lightweight, produce large actuation performance, show good fracture tolerance, and can be made into almost any shape. 1 Therefore, a great deal of attention has been given to the EAPs over the past two decades for their ability to generate large electromechanical actuation under an applied electric field without the need for any moving parts, external motors or servos.2 This biomimetic functionality fosters rich possible applications in robotics, the medical field, microfluidics, aerospace applications, etc.2 The EAPs studied can be classified into two categories: electronic EAP (e-EAP) and ionic EAP (i-EAP). 1 The electromechanical response observed in e-EAPs can originate from an electrostrictive effect, 3 the Maxwell-stress (i.e., electrostatic force) effect, 4,5 and the re-orientation of dipoles.6 The e-EAPs are usually good electrical insulators that can stand with a high electric field. They exhibit a fast electromechanical response with a linear strain and a response time from s to ns and their strain response is well defined by the electric field applied on it. Therefore, the electromechanical response of an e-EAP is usually characterized by the relationship between the electric induced strain and the electric field applied on. 6,7 For the e-EAPs to exhibit a high strain, a high electric field (> 100 MV/m) is usually required. 6,7 Regarding i-EAPs which include ionic polymer-metal composites (IPMCs), 8 conducting polymers, 9 hydrogels, 10 etc., when an electric field is applied on it, the ions in the polymer are forced to move so that the distribution of the ions changes with time, 1,8-10 which leads to the accumulation of cations and anions onto different electrodes. The size disparity between the two types of mobile ions results in a differential expansion/shrinkage across the polymer matrix. 1,[8][9][10][11] Therefore, a bending actuation as the electromechanical response is induced in a single layer of an i-EAP film as show...

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Introduction to Smart Materials and Structures

Rade

Steffen

2016

Dynamics of Smart Systems and Structures

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Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

Cited by 22 publications

References 29 publications

An Overview of Novel Actuators for Soft Robotics

An Overview of Novel Actuators for Soft Robotics

Time-dependence of the electromechanical bending actuation observed in ionic-electroactive polymers

Introduction to Smart Materials and Structures

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