Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages.A thick IPMC actuator,where Nafion-117 membrane was synthesized with polypyrrole/alumina composite filler,was analyzed to verify ...Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages.A thick IPMC actuator,where Nafion-117 membrane was synthesized with polypyrrole/alumina composite filler,was analyzed to verify the equivalent beam and equivalent bimorph beam models.The blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests respectively.The calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured data.Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC actuator.The results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured data.It is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement,blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.展开更多
As a new ionic polymer-metal composite(IPMC) for artificial muscle,the mechanical performance parameters and the relationship between the deformation and the electrical parameters of the IPMC were studied. With the di...As a new ionic polymer-metal composite(IPMC) for artificial muscle,the mechanical performance parameters and the relationship between the deformation and the electrical parameters of the IPMC were studied. With the digital speckle correlation method,the constitutive relationship of the IPMC was confirmed. With non-contact photography measurement,a cantilever setup was designed to confirm the relationship between the deformation of the IPMC film and the applied voltage. The relationship curve of tip displacement of the IPMC cantilever setup vs the voltage was achieved. The results indicate that the IPMC is isotropic,its elastic modulus is 232 MPa and Poisson ratio is 0.163. The curve achieved from the test of the tip displacement of the IPMC cantilever setup shows that the tip displacement reaches the maximum when the stimulated voltage is 5 V. And the tip displacement descends largely when the frequency of the applied voltage is between 30 mHz and 100 mHz.展开更多
Ion-exchange polymer-metal composite （IPMC） is a new electroactive material. It has large deformation and high force weight ratio in the presence of low voltage （〈1.5 V）. In this study a soft actuator known as ar...Ion-exchange polymer-metal composite （IPMC） is a new electroactive material. It has large deformation and high force weight ratio in the presence of low voltage （〈1.5 V）. In this study a soft actuator known as artificial muscle based on IPMC was prepared. The IPMC actuator is composed of a perfluorinated ion-exchange membrane and platinum plated on both sides of the membrane by chemical means. Experiences and some key points are introduced in preparation of the IPMC. Electromechanical behaviors of the actuator are investigated, Factors related to the actuator performance are discussed.展开更多
Ionic polymer-metal composites (IPMCs) are especially interesting electroactive polymers because they show large a deformation in the presence of a very low driving voltage (around 1 - 2 V) and several applications ha...Ionic polymer-metal composites (IPMCs) are especially interesting electroactive polymers because they show large a deformation in the presence of a very low driving voltage (around 1 - 2 V) and several applications have recently been proposed. Normally a humid environment is required for the best operation, although some IPMCs can operate in a dry environment, after proper encapsulation or if a solid electrolyte is used in the manufacturing process. However, such solutions usually lead to increasing mechanical stiffness and to a reduction of actuation capabilities. In this study we focus on the behaviour of non-encapsulated IPMCs as actuators in dry environments, in order to obtain relevant information for design tasks linked to the development of active devices based on this kind of smart material. The non-linear response obtained in the characterisation tests is especially well-suited to modelling these actuators with the help of artificial neural networks (ANNs). Once trained with the help of characterisation data, such neural networks prove to be a precise simulation tool for describing IPMC response in dry environments.展开更多
In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model th...In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.展开更多
The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ...The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ray using ionic polymer–metal composite(IPMC)as artificial muscles to mimic the swimming behavior of the manta ray.The robot utilizes two artificial pectoral fins to generate undulatory flapping motions,which produce thrust for the robot.Each pectoral fin consists of an IPMC muscle in the leading edge and a passive polydimethylsiloxane membrane in the trailing edge.When the IPMC is actuated,the passive polydimethylsiloxane membrane follows the bending of the leading edge with a phase delay,which leads to an undulatory flapping motion on the fin.Characterization of the pectoral fin has shown that the fin can generate flapping motions with up to 100%tip deflection and 40◦twist angle.To test the free-swimming performance of the robot,a light and compact on-board control unit with a lithium ion polymer battery has been developed.The experimental results have shown that the robot can swim at 0.067 BL/s with portable power consumption of under 2.5 W.展开更多
1 Introduction The synthesis and characterization of Metal NanoParticles (MNPs) has attracted great interest of scientists and technologists within the last years due their unique physical and chemical properties,whic...1 Introduction The synthesis and characterization of Metal NanoParticles (MNPs) has attracted great interest of scientists and technologists within the last years due their unique physical and chemical properties,which substantially differ from those of both bulk material and single atoms.These properties provide various practical applications of MNPs including catalysis-and electrocatalysis-based processes,which occur in,for example,fuel cells of different types or in various sensing devices (e.g.amper...展开更多
The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operati...The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage.Although this polymer actuator has strong potential for a next-generation artificial muscle actuator,it has been observed by many researchers that supplying actuation voltages in multiple locations is challenging.In robotic applications,a tethered operation is prohibited and the battery weight can be critical for actual implementation.In this research,the remote unit can provide necessary power and control signals to the target mobile robot units actuated by IPMCs.This research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the power.Frequency modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is located.This approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.展开更多
Ionic polymer–metal composites(IPMCs)are commonly used as soft actuators due to their electromechanical response.However,the reverse phenomenon,i.e.IPMC’s ability to generate charge on application of mechanical stra...Ionic polymer–metal composites(IPMCs)are commonly used as soft actuators due to their electromechanical response.However,the reverse phenomenon,i.e.IPMC’s ability to generate charge on application of mechanical strain(mechanoelectric response),is not very well understood.The concept of mechanoelectric transduction and its dependence on complex IPMC architecture comprising of electrode,polymer and composite layer is illustrated with a phenomenological model.The impedance model takes into account the charge transport inside the polymer and layer properties in terms of their impedances.The model lucidly indicates the significance of capacitance in IPMC transduction.The impedance model is used for studying IPMC step and frequency response and the effect of IPMC capacitance on its application as energy harvester.展开更多
A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems.The motor was developed by utilizing a novel model for IP...A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems.The motor was developed by utilizing a novel model for IPMC actuators integrated with the complete mechanical model of the motor.The dynamic,nonlinear IPMC model can accurately predict the displacement and force actuation in air for a large range of input voltages as well as accounting for interactions with mechanical systems and external loads.By integrating this geometrically scalable IPMC model with a mechanical model of the motor mechanism an appropriate size IPMC strip has been chosen to achieve the required motor specifications.The entire integrated system has been simulated and its performance verified.The system has been built and the experimental results validated to show that the motor works as simulated and can indeed achieve continuous 360rotation,similar to conventional motors.This has proven that the model is an indispensable design tool for integrated IPMC actuators into real systems.This newly developed system has demonstrated the complete design process for smart material actuator systems,representing a large step forward and aiding in the progression of IPMCs towards wide acceptance as replacements for traditional actuators.展开更多
We are concerned with a model of ionic polymer-metal composite(IPMC)materials that consists of a coupled system of the Poisson and Nernst-Planck equations,discretized by means of the finite element method(FEM).We show...We are concerned with a model of ionic polymer-metal composite(IPMC)materials that consists of a coupled system of the Poisson and Nernst-Planck equations,discretized by means of the finite element method(FEM).We show that due to the transient character of the problem it is efficient to use adaptive algorithms that are capable of changing the mesh dynamically in time.We also show that due to large qualitative and quantitative differences between the two solution components,it is efficient to approximate them on different meshes using a novel adaptive multimesh hp-FEM.The study is accompanied with numerous computations and comparisons of the adaptive multimesh hp-FEMwith several other adaptive FEM algorithms.展开更多
本研究旨在探究不同金属离子(NaCl、KCl、CaCl_(2)、AlCl_(3)和FeCl_(3))对乳清分离蛋白(whey protein isolate,WPI)纤维聚合物聚合动力学、形态和结构的影响。结果表明,不同金属离子影响了WPI纤维聚合物的最终结构和特征。NaCl、KCl和C...本研究旨在探究不同金属离子(NaCl、KCl、CaCl_(2)、AlCl_(3)和FeCl_(3))对乳清分离蛋白(whey protein isolate,WPI)纤维聚合物聚合动力学、形态和结构的影响。结果表明,不同金属离子影响了WPI纤维聚合物的最终结构和特征。NaCl、KCl和CaCl_(2)对WPI的聚集影响较小,增加了溶液pH和电导率,而AlCl_(3)和FeCl_(3)加速了WPI的聚集,降低了溶液pH,增加了溶液电导率;与原始WPI纤维聚合物硫黄素T(Th T)荧光强度(388.92)相比,NaCl、KCl和CaCl_(2)增加Th T荧光强度分别至465.39、433.37和486.83,增加了WPI纤维聚合物的生成量,AlCl_(3)和FeCl_(3)降低Th T荧光强度分别至228.81和90.24,降低了WPI纤维聚合物的生成量;不同金属离子均改变了WPI聚合动力学,降低了(df/dt)_(max)值,并改变了滞后时间;NaCl、KCl和CaCl_(2)对WPI纤维聚合物的形态影响较小,AlCl_(3)和FeCl_(3)使WPI纤维聚合物更团簇、粗而杂乱;傅里叶红外光谱结果表明,NaCl、KCl和CaCl_(2)促进β-折叠结构生成,而AlCl_(3)和FeCl_(3)抑制了β-折叠生成,不同金属离子的加入均改变了纤维中β-链间的特征距离。这些结果为利用WPI制备不同聚集形态的纤维聚合物提供了科学依据。展开更多
As a kind of ionic artificial muscle material,Ionic Polymer-Metal Composites(IPMCs)have the advantages of a low drive current,light weight,and significant flexibility.IPMCs are widely used in the fields of biomedicine...As a kind of ionic artificial muscle material,Ionic Polymer-Metal Composites(IPMCs)have the advantages of a low drive current,light weight,and significant flexibility.IPMCs are widely used in the fields of biomedicine,soft robots,etc.However,the displacement and blocking force of the traditional sheet-type Nafion-IPMC need to be improved,and it has the limitation of unidirectional actuation.In this paper,a new type of short side chain Aquivion material is used as the polymer in the IPMC.The cylindrical IPMC is prepared by extrusion technology to improve its actuation performance and realize multi-degree-of-freedom motion.In comparison to the traditional Nafion-IPMC,the ion exchange capacity,specific capacitance,and conductivity of Aquivion-IPMC are improved by 28%,27%,and 32%,respectively,and the displacement and blocking force are improved by 57%and 25%,respectively.The cylindrical actuators can be deflected in eight directions.This indicates that Aquivion,as a polymer membrane for IPMC,holds significant application potential.By designing a cylindrical IPMC electrode distribution,the multi-degree-of-freedom deflection of IPMC can be realized.展开更多
基金supported by the Defense Acquisition Program Administration (DAPA)the Agency for Defense Development (ADD) in Korea+1 种基金the Korea Research Foundation (KRF-2006-005-J03301)the National Research Foundation (Grant number: 2009-0083068).
文摘Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages.A thick IPMC actuator,where Nafion-117 membrane was synthesized with polypyrrole/alumina composite filler,was analyzed to verify the equivalent beam and equivalent bimorph beam models.The blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests respectively.The calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured data.Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC actuator.The results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured data.It is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement,blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.
基金Project(50575228) supported by the National Natural Science Foundation of ChinaProject(07JJ3089) supported by the Hunan Provincial Natural Science Foundation of China
文摘As a new ionic polymer-metal composite(IPMC) for artificial muscle,the mechanical performance parameters and the relationship between the deformation and the electrical parameters of the IPMC were studied. With the digital speckle correlation method,the constitutive relationship of the IPMC was confirmed. With non-contact photography measurement,a cantilever setup was designed to confirm the relationship between the deformation of the IPMC film and the applied voltage. The relationship curve of tip displacement of the IPMC cantilever setup vs the voltage was achieved. The results indicate that the IPMC is isotropic,its elastic modulus is 232 MPa and Poisson ratio is 0.163. The curve achieved from the test of the tip displacement of the IPMC cantilever setup shows that the tip displacement reaches the maximum when the stimulated voltage is 5 V. And the tip displacement descends largely when the frequency of the applied voltage is between 30 mHz and 100 mHz.
基金Project supported by the National Natural Science Foundation of China(Grant No.50377022)
文摘Ion-exchange polymer-metal composite （IPMC） is a new electroactive material. It has large deformation and high force weight ratio in the presence of low voltage （〈1.5 V）. In this study a soft actuator known as artificial muscle based on IPMC was prepared. The IPMC actuator is composed of a perfluorinated ion-exchange membrane and platinum plated on both sides of the membrane by chemical means. Experiences and some key points are introduced in preparation of the IPMC. Electromechanical behaviors of the actuator are investigated, Factors related to the actuator performance are discussed.
文摘Ionic polymer-metal composites (IPMCs) are especially interesting electroactive polymers because they show large a deformation in the presence of a very low driving voltage (around 1 - 2 V) and several applications have recently been proposed. Normally a humid environment is required for the best operation, although some IPMCs can operate in a dry environment, after proper encapsulation or if a solid electrolyte is used in the manufacturing process. However, such solutions usually lead to increasing mechanical stiffness and to a reduction of actuation capabilities. In this study we focus on the behaviour of non-encapsulated IPMCs as actuators in dry environments, in order to obtain relevant information for design tasks linked to the development of active devices based on this kind of smart material. The non-linear response obtained in the characterisation tests is especially well-suited to modelling these actuators with the help of artificial neural networks (ANNs). Once trained with the help of characterisation data, such neural networks prove to be a precise simulation tool for describing IPMC response in dry environments.
基金supported by the National Natural Science Foundation of China (Grant No. 61075100)
文摘In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.
基金supported in part by the Office of Naval Research(ONR)under the Multidisciplinary University Research Initiative(MURI)Grant N00014-08-1-0642 and the David and Lucille Packard Foundation.
文摘The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ray using ionic polymer–metal composite(IPMC)as artificial muscles to mimic the swimming behavior of the manta ray.The robot utilizes two artificial pectoral fins to generate undulatory flapping motions,which produce thrust for the robot.Each pectoral fin consists of an IPMC muscle in the leading edge and a passive polydimethylsiloxane membrane in the trailing edge.When the IPMC is actuated,the passive polydimethylsiloxane membrane follows the bending of the leading edge with a phase delay,which leads to an undulatory flapping motion on the fin.Characterization of the pectoral fin has shown that the fin can generate flapping motions with up to 100%tip deflection and 40◦twist angle.To test the free-swimming performance of the robot,a light and compact on-board control unit with a lithium ion polymer battery has been developed.The experimental results have shown that the robot can swim at 0.067 BL/s with portable power consumption of under 2.5 W.
文摘1 Introduction The synthesis and characterization of Metal NanoParticles (MNPs) has attracted great interest of scientists and technologists within the last years due their unique physical and chemical properties,which substantially differ from those of both bulk material and single atoms.These properties provide various practical applications of MNPs including catalysis-and electrocatalysis-based processes,which occur in,for example,fuel cells of different types or in various sensing devices (e.g.amper...
基金support for this work under the grant number IIS-0713075 and 0713083。
文摘The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage.Although this polymer actuator has strong potential for a next-generation artificial muscle actuator,it has been observed by many researchers that supplying actuation voltages in multiple locations is challenging.In robotic applications,a tethered operation is prohibited and the battery weight can be critical for actual implementation.In this research,the remote unit can provide necessary power and control signals to the target mobile robot units actuated by IPMCs.This research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the power.Frequency modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is located.This approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.
文摘Ionic polymer–metal composites(IPMCs)are commonly used as soft actuators due to their electromechanical response.However,the reverse phenomenon,i.e.IPMC’s ability to generate charge on application of mechanical strain(mechanoelectric response),is not very well understood.The concept of mechanoelectric transduction and its dependence on complex IPMC architecture comprising of electrode,polymer and composite layer is illustrated with a phenomenological model.The impedance model takes into account the charge transport inside the polymer and layer properties in terms of their impedances.The model lucidly indicates the significance of capacitance in IPMC transduction.The impedance model is used for studying IPMC step and frequency response and the effect of IPMC capacitance on its application as energy harvester.
文摘A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems.The motor was developed by utilizing a novel model for IPMC actuators integrated with the complete mechanical model of the motor.The dynamic,nonlinear IPMC model can accurately predict the displacement and force actuation in air for a large range of input voltages as well as accounting for interactions with mechanical systems and external loads.By integrating this geometrically scalable IPMC model with a mechanical model of the motor mechanism an appropriate size IPMC strip has been chosen to achieve the required motor specifications.The entire integrated system has been simulated and its performance verified.The system has been built and the experimental results validated to show that the motor works as simulated and can indeed achieve continuous 360rotation,similar to conventional motors.This has proven that the model is an indispensable design tool for integrated IPMC actuators into real systems.This newly developed system has demonstrated the complete design process for smart material actuator systems,representing a large step forward and aiding in the progression of IPMCs towards wide acceptance as replacements for traditional actuators.
基金supported by the Grant Agency of the Academy of Sciences of the Czech Republic under Grant No.IAA100760702and by the U.S.Department of Energy Research Subcontract No.00089911+1 种基金The third author acknowledges the financial support of the U.S.Office of Naval Research under Award N000140910218The fourth author acknowledges the financial support of the Estonian Ministry of Education,grant#SF0180008s08.
文摘We are concerned with a model of ionic polymer-metal composite(IPMC)materials that consists of a coupled system of the Poisson and Nernst-Planck equations,discretized by means of the finite element method(FEM).We show that due to the transient character of the problem it is efficient to use adaptive algorithms that are capable of changing the mesh dynamically in time.We also show that due to large qualitative and quantitative differences between the two solution components,it is efficient to approximate them on different meshes using a novel adaptive multimesh hp-FEM.The study is accompanied with numerous computations and comparisons of the adaptive multimesh hp-FEMwith several other adaptive FEM algorithms.
基金financial support from the National Natural Science Foundation of China(Grant No.U1637101)The Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(1005-ZAG23011).
文摘As a kind of ionic artificial muscle material,Ionic Polymer-Metal Composites(IPMCs)have the advantages of a low drive current,light weight,and significant flexibility.IPMCs are widely used in the fields of biomedicine,soft robots,etc.However,the displacement and blocking force of the traditional sheet-type Nafion-IPMC need to be improved,and it has the limitation of unidirectional actuation.In this paper,a new type of short side chain Aquivion material is used as the polymer in the IPMC.The cylindrical IPMC is prepared by extrusion technology to improve its actuation performance and realize multi-degree-of-freedom motion.In comparison to the traditional Nafion-IPMC,the ion exchange capacity,specific capacitance,and conductivity of Aquivion-IPMC are improved by 28%,27%,and 32%,respectively,and the displacement and blocking force are improved by 57%and 25%,respectively.The cylindrical actuators can be deflected in eight directions.This indicates that Aquivion,as a polymer membrane for IPMC,holds significant application potential.By designing a cylindrical IPMC electrode distribution,the multi-degree-of-freedom deflection of IPMC can be realized.
