Miniaturized Terrestrial Walking Robot Using PVDF/PVP/PSSA Based Ionic Polymer–Metal Composite Actuator

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Kim Tien Nguyen ◽  
Seong Young Ko ◽  
Jong-Oh Park ◽  
Sukho Park
Keyword(s):  
Vinylidene Fluoride ◽  
Polymer Mixture ◽  
Small Scale ◽  
Maximum Speed ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Walking Robot ◽  
Mixture Ratio ◽  
Ionic Polymer ◽  
Polymer Metal

This paper presents a design and fabrication of millimeter scale walking robot using ionic polymer–metal composite (IPMC) actuator as the robot's leg for walking in terrestrial environment. A small scale of new IPMC actuator based on poly-vinylidene fluoride (PVDF)/polyvinyl pyrrolidone (PVP)/polystyrene sulfuric acid (PSSA) blend membrane was fabricated and employed in this study to sustain and drive the walking robot with sufficient force and displacement. The PVDF/PVP/PSSA based IPMC actuator with a polymer mixture ratio of 15/30/55 shows improved performances than Nafion based IPMC actuator. To enhance a traction force of the walking robot and to increase the life time of IPMC actuators, the IPMC strips are covered with a thin PDMS (polydimethylsiloxane) layer. A miniaturized terrestrial walking robot (size: 18 × 11 × 12 mm, weight: 1.3 g) with a light weight robot's body which can support 2-, 4-, or 6-IPMC-leg models was designed and implemented the walking motion on the ground at the maximum speed of 0.58 mm/s.

Design and Implementation of an Ionic-Polymer-Metal-Composite Aquatic Biomimetic Robot

2011 ◽  
Author(s):  
Yi-chu Chang ◽  
Won-jong Kim
Keyword(s):  
Input Signal ◽  
Smart Materials ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Walking Robot ◽  
Ionic Polymer ◽  
Square Wave ◽  
Polymer Metal ◽  
Biomimetic Robot ◽  
Two Degree Of Freedom

Smart materials have been used in various applications. In this paper, a walking robot with six two-degree-of-freedom (2-DOF) legs made of ionic polymer metal composite (IPMC) is designed and implemented. Each leg can work as both a supporter and a driver, closely mimicking a real insect. To support and drive the robot, thicker (around 1 mm in thickness) IPMC strips were fabricated and used, and a 0.2-rad/s square wave is given as an input signal. The IPMC strips exhibit better performance in response to the square wave (8 mm) than sawtooth (4 mm) and sinusoidal (6 mm) waves in deflection. By applying this input signal in sequence, all the IPMC strips bend and walk in the form of six legs. In addition, thin magnet wires were used to supply power to each strip to prevent from confining the motion of our robot. Six lower legs are divided into two groups that work in the opposite directions to move the robot forward by turns. Upper legs are also divided into two groups to lift up their lower legs from making the robot to move back to the same place. The sizes of the IPMC strips and our robot (102 mm × 80 mm × 43 mm) were decided to exhibit better performance (0.5 mm/s) according to our tests.

Characterization and Parametric Study of Multilayered IPMC Actuator

2014 ◽  
Vol 983 ◽  
pp. 161-165
Author(s):  
Muhammad Farid Shaari ◽  
Zahurin Samad
Keyword(s):  
Parametric Study ◽  
Weight Ratio ◽  
Small Scale ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
End Effector ◽  
Ionic Polymer ◽  
Actuation Force ◽  
Polymer Metal ◽  
Robotic Applications

Ionic Polymer-Metal Composite (IPMC) has been utilized as an actuator in several robotic applications such as the actuator for its locomotion and gripper of the end effector. However, due to its low actuation force which is normally less than 10gf (depend on dimension), the application has been limited to small scale robot. Hence, in this research we propose a multilayer structure of IPMC actuator and investigate the actuation force increment. Besides, parametric study was also conducted to determine the force-to-weight ratio and the bending displacement. The obtained results had been compared to single ply IPMC actuator at the same thickness. The result shows that the increment of IPMC layer had increased the actuating force up to 30% for two layers and 40% for three layers. In addition, utilizing multilayered IPMC had reduced the stiffness constraint for thicker IPMC. This finding would be useful in designing stage of a small scale robot that require higher actuation force at a higher bending displacement.

Sulfonated polystyrene-based ionic polymer–metal composite (IPMC) actuator

2011 ◽  
Vol 17 (1) ◽  
pp. 49-55 ◽  
Author(s):  
Mohammad Luqman ◽  
Jang-Woo Lee ◽  
Kwang-Kil Moon ◽  
Young-Tai Yoo
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Sulfonated Polystyrene ◽  
Ionic Polymer ◽  
Polymer Metal

Biomimetic Applications of Ionic Polymer Metal Composites (IPMC) Actuators - A Critical Review

2014 ◽  
Vol 20 ◽  
pp. 1-10 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman ◽  
...  
Keyword(s):  
Critical Review ◽  
Low Voltage ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Design And Manufacturing ◽  
Polymer Metal ◽  
Biomedical Field

Biomimetic is the field of engineering in which biological creatures and their functions are investigated and are used as the basis for the design and manufacturing of machines. Ionic Polymer Metal Composite (IPMC) is a smart material which has demonstrated a meaningful bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing. Resultantly, IPMC has attracted scientists and researchers to analyze it further and consider it for any industrial and biomimetic applications. Presently, the research on IPMC is bi-directional oriented. A few groups of researchers are busy to find out the causes for the weaknesses of the material and to find out any remedy for them. The second class of scientists is exploring new areas of applications where IPMC material can be used. Although, the application zone of IPMC is ranging from micropumps diaphragms to surgical holding devices, this paper provides an overview of the IPMC application in biomimetic and biomedical field.

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