Linear approximate dynamic model of ICPF (ionic conducting polymer gel film) actuator

Kanno, R.; Tadokoro, Satoshı; Takamori, Toshi; Hattori, Minoru; Oguro, Keisuke

doi:10.1109/robot.1996.503781

Cited by 123 publications

(108 citation statements)

References 3 publications

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“…Beyond that, though, there have been a number of models based on different physical phenomena that can closely match experimental data. The models that provide a direct comparison between experiment and theory can generally be separated into phenomenological models based on curvefits of experimental data [6][7][8][9] and physics-based models that attempt to predict the material response from governing equations.…”

Section: Introductionmentioning

confidence: 99%

Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling

Wallmersperger

Leo

Kothera

2007

Journal of Applied Physics

109

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Ionomeric polymer transducers consist of an ion-conducting membrane sandwiched between two metal electrodes. Application of a low voltage (<5V) to the polymer produces relatively large bending deformation (>2% strain) due to the transport of ionic species within the polymer matrix. A computational model of transport and electromechanical transduction is developed for ionomeric polymer transducers. The transport model is based upon a coupled chemoelectrical multifield formulation and computes the spatiotemporal volumetric charge density profile to an applied potential at the boundaries. The current induced in the polymer is computed using the isothermal transient ionic current associated with surface charge accumulation at the electrodes induced by nonzero volumetric charge density within the polymer. The stress induced in the polymer is assumed to be a summation of linear and quadratic functions of the volumetric charge density. Euler-Bernoulli beam mechanics are used to compute the bending deflection of the transducer to an applied potential. The diffusion coefficient and permittivity of the polymer is identified from the measured current density to a step change in the applied potential. A comparison between the measured data and the predicted response demonstrates that this model accurately predicts the current discharge due to the applied potential at voltages over the range of 50–500mV. Furthermore, the measured strain response is accurately predicted by determining the two parameters of the mechanics model that relates volumetric charge density to induced stress. The coupled model with parameters identified from the step response analysis is used to predict the harmonic response of the current and the bending strain. Comparisons between measured data and simulations illustrate that the coupled transport-mechanics model accurately predicts the magnitude and trends associated with the current response and strain output. Excellent agreement is obtained at excitation periods above approximately 1s while good agreement is obtained at longer excitation periods. The transport model highlights the importance of the asymmetry that develops at large applied potentials and long excitation periods in the volumetric charge density due to the fixed anionic species in the polymer.

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Section: Introductionmentioning

confidence: 99%

Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling

Wallmersperger

Leo

Kothera

2007

Journal of Applied Physics

109

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“…The broadest class of models can be thought of as black box models, offering input-output relationships based upon curve fits of experimental data. This class of models began to emerge in the mid 1990s with work by Kanno et al,19,20 who addressed the actuation response of the IPT. This concept was further extended by Newbury and Leo, [21][22][23] who developed a constitutive model that addressed both the sensing and actuation response of the IPT.…”

Section: Introductionmentioning

confidence: 99%

Modeling the electrical impedance response of ionic polymer transducers

Farinholt

Leo

2008

Journal of Applied Physics

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Articles you may be interested inA physics-based model of the electrical impedance of ionic polymer metal composites J. Appl. Phys. 111, 124901 (2012) An analytical study is presented that investigates the electrical impedance response of the ionic polymer transducer. Experimental studies have shown that the electromechanical response of these active materials is highly dependent upon internal parameters such as neutralizing counterion, diluent, electrode treatment, as well as environmental factors such as ambient temperature. Further examination has shown that these variations are introduced predominantly through the polymer's ability to convert voltage into charge migration. This relationship can easily be represented by the polymer's electrical impedance as measured across the outer electrodes of the transducer. In the first half of this study an analytical model is developed which predicts the time and frequency domain characteristics of the electrical response of the ionic polymer transducer. Transport equations serve as the basis for this model, from which a series of relationships are developed to describe internal potential, internal charge density, as well as surface current. In the second half of this study several analytical studies are presented to understand the impact that internal parameters have on the polymer's electrical response, while providing a conceptual validation of the model. In addition to the analytical studies several experimental comparisons are made to further validate the model by examining how well the model predicts changes in temperature, viscosity and pretention within the ionic polymer transducer.

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“…A typical example of a black box model, proposed since the very first years, in due to Kanno et al [96][97][98] In Ref. 96, the combination of a number of exponential functions was used to model the tip displacement of an IPMC bender under the effect of various input voltage steps.…”

Section: Black Box Modelsmentioning

confidence: 99%

Ionic electroactive polymer metal composites: Fabricating, modeling, and applications of postsilicon smart devices

Luca

Digiamberardino

Pasquale

et al. 2013

J Polym Sci B Polym Phys

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Smart systems adapt to the surrounding environments in a number of ways. They are capable to scavenge energy from available sources, sense and elaborate external stimuli and adequately react. Electro Active Polymers are playing a main role in the realization of smart systems for applications if fields such as bio inspired and autonomous robotics, medicine, and aerospace. This paper focus on the possibility to use Ionic Polymer Metal Composites as a class of materials relevant to the realization of post silicon smart systems. The three main aspects of this new technology, i.e., fabrication methods, modeling, and applications are described with emphasis to most recent results. Attention is given to main challenges and shortcomings to be solved for technology, modelling, and control of IPMC based devices that need to be solved before this new technology can be fully exploited in real world applications.

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Linear approximate dynamic model of ICPF (ionic conducting polymer gel film) actuator

Cited by 123 publications

References 3 publications

Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling

Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling

Modeling the electrical impedance response of ionic polymer transducers

Ionic electroactive polymer metal composites: Fabricating, modeling, and applications of postsilicon smart devices

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