Motion Simulation of Ionic Liquid Gel Soft Actuators Based on CPG Control

The ionic liquid gel (ILG), a new type of soft actuator material, is a mixture of 1-butyl-3-methylimidazolium tetrafluoroborate (BMIMBF4), hydroxyethyl methacrylate (HEMA), diethoxyacetophenone (DEAP), and ZrO2 polymerized into a gel state under ultraviolet (UV) light irradiation. The soft actuator structure consists of a layer of ionic liquid polymer gel sandwiched between two layers of activated carbon capped with gold foil. The volume of the cationic BMIM+ in the ionic liquid BMIMBF4 is much larger than that of the anionic BF4−. When voltages are applied to both sides of the actuator, the anions and cations move toward the anode and cathode of the electrode, respectively, under the electric field. The volume of the ILG cathode side therefore expands, and the volume of the ILG anode side shrinks, hence bending the entire actuator toward the anode side. The Ogden model was selected as the hyperelastic constitutive model to study the mechanical properties of the ILG by nonlinear analysis. As the ILG is an ideal material for the preparation of a supercapacitor, the equivalent circuit of the ILG can be modeled by the supercapacitor theory to identify the transfer function of the soft actuator. The central pattern generator (CPG) control is widely used in the area of biology, and CPGs based on bioinspired control methods have attracted great attention from researchers worldwide. After the continuum soft actuator is discretized, the CPG-based bioinspired method can be used to control the soft robot drivers. According to the simulation analysis results, the soft actuator can be smooth enough to reach the specified location.

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Application and Analysis of an Ionic Liquid Gel in a Soft Robot

Advances in Materials Science and Engineering ◽

10.1155/2019/2857282 ◽

2019 ◽

Vol 2019 ◽

pp. 1-14

Author(s):

Chenghong Zhang ◽

Bin He ◽

Zhipeng Wang ◽

Yanmin Zhou ◽

Aiguo Ming

Keyword(s):

Ionic Liquid ◽

Uv Light ◽

Electroactive Polymers ◽

Electroactive Polymer ◽

Soft Robot ◽

Polymer Gel ◽

Basic Module ◽

Soft Actuator ◽

New Type ◽

Soft Actuators

Due to their light weight, flexibility, and low energy consumption, ionic electroactive polymers have become a hotspot for bionic soft robotics and are ideal materials for the preparation of soft actuators. Because the traditional ionic electroactive polymers, such as ionic polymer-metal composites (IPMCs), contain water ions, a soft actuator does not work properly upon the evaporation of water ions. An ionic liquid polymer gel is a new type of ionic electroactive polymer that does not contain water ions, and ionic liquids are more thermally and electrochemically stable than water. These liquids, with a low melting point and a high ionic conductivity, can be used in ionic electroactive polymer soft actuators. An ionic liquid gel (ILG), a new type of soft actuator material, was obtained by mixing 1-butyl-3-methylimidazolium tetrafluoroborate (BMIMBF4), hydroxyethyl methacrylate (HEMA), diethoxyacetophenone (DEAP) and ZrO2 and then polymerizing this mixture into a gel state under ultraviolet (UV) light irradiation. An ILG soft actuator was designed, the material preparation principle was expounded, and the design method of the soft robot mechanism was discussed. Based on nonlinear finite element theory, the deformation mechanism of the ILG actuator was deeply analyzed and the deformation of the soft robot when grabbing an object was also analyzed. A soft robot was designed with the soft actuator as the basic module. The experimental results show that the ILG soft robot has good driving performance, and the soft robot can grab a 105 mg object at an input voltage of 3.5 V.

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Application of Ionic Liquid-polymer Gel Membrane in Toluene/n-Heptane Separation

Separation and Purification Technology ◽

10.1016/j.seppur.2021.118596 ◽

2021 ◽

pp. 118596

Author(s):

Yuming Tu ◽

Hui Yu ◽

Wei He ◽

Zhiyong Zhou ◽

Wei Liu ◽

...

Keyword(s):

Ionic Liquid ◽

Polymer Gel ◽

Liquid Polymer ◽

Ionic Liquid Polymer

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A Computing Method to Determine the Performance of an Ionic Liquid Gel Soft Actuator

Applied Bionics and Biomechanics ◽

10.1155/2018/8327867 ◽

2018 ◽

Vol 2018 ◽

pp. 1-11 ◽

Cited By ~ 2

Author(s):

Bin He ◽

Chenghong Zhang ◽

Yanmin Zhou ◽

Zhipeng Wang

Keyword(s):

Experimental Data ◽

Ionic Liquid ◽

Tensile Stress ◽

Uv Light ◽

Uniaxial Tensile ◽

Optimized Design ◽

Soft Actuator ◽

Uniaxial Tensile Testing ◽

New Type ◽

Uniaxial Tensile Stress

A new type of soft actuator material—an ionic liquid gel (ILG) that consists of BMIMBF4, HEMA, DEAP, and ZrO2—is polymerized into a gel state under ultraviolet (UV) light irradiation. In this paper, we first propose that the ILG conforms to the assumptions of hyperelastic theory and that the Mooney-Rivlin model can be used to study the properties of the ILG. Under the five-parameter and nine-parameter Mooney-Rivlin models, the formulas for the calculation of the uniaxial tensile stress, plane uniform tensile stress, and 3D directional stress are deduced. The five-parameter and nine-parameter Mooney-Rivlin models of the ILG with a ZrO2 content of 3 wt% were obtained by uniaxial tensile testing, and the parameters are denoted as c10, c01, c20, c11, and c02 and c10, c01, c20, c11, c02, c30, c21, c12, and c03, respectively. Through the analysis and comparison of the uniaxial tensile stress between the calculated and experimental data, the error between the stress data calculated from the five-parameter Mooney-Rivlin model and the experimental data is less than 0.51%, and the error between the stress data calculated from the nine-parameter Mooney-Rivlin model and the experimental data is no more than 8.87%. Hence, our work presents a feasible and credible formula for the calculation of the stress of the ILG. This work opens a new path to assess the performance of a soft actuator composed of an ILG and will contribute to the optimized design of soft robots.

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