Estimation of ion dimension doped in conducting polymers electrochemically

MRS Advances ◽  
2018 ◽  
Vol 3 (27) ◽  
pp. 1543-1549 ◽  
Author(s):  
Keiichi Kaneto ◽  
Fumito Hata ◽  
Sadahito Uto
Keyword(s):  
Conducting Polymers ◽  
Electrochemical Oxidation ◽  
Artificial Muscles ◽  
Counter Ions ◽  
Laser Displacement Meter ◽  
Polypyrrole Film ◽  
Soft Actuators ◽  
Ion Size ◽  
Isotropic Expansion ◽  
The Relationship

ABSTRACTElectroactive conducting polymers are suitable for soft actuators (artificial muscles). The actuation is induced by electrochemical oxidation of conducting polymer (film) in an electrolyte solution, due to insertion of bulky counter ions (dopant ions). The magnitude of deformation (strain) depends on the size of dopant ions and the degree of oxidation. It is worthwhile to know the relationship between the magnitudes of deformation and ion size. An electrodeposited Polypyrrole film was electrochemically cycled in aqueous electrolytes of NaCl, NaBr, NaNO3, NaBF4 and NaClO4. The strain of film during electrochemical oxidation and reduction was precisely measured using a laser displacement meter and a handmade apparatus. From the strain and electrical charges inserted in the film during oxidation, the volumes and radii of dopant ions were estimated, assuming the isotropic expansion of the film. The estimated anion radii of Cl-, Br-, NO3-, BF4- and ClO4- were 235, 246, 250, 270 and 290, respectively. The results were discussed taking the crystallographic and hydrated ion radii in literatures into consideration.

Modeling, Analysis, and Function Extension of the McKibben Hydraulic Artificial Muscles

2020 ◽  
Author(s):  
Siqing Chen ◽  
He Xu
Keyword(s):  
High Pressure ◽  
Theoretical Analysis ◽  
Artificial Muscle ◽  
Design Parameters ◽  
Artificial Muscles ◽  
Soft Robots ◽  
The Law ◽  
Soft Actuators ◽  
The Impact ◽  
The Relationship

Abstract Compared with rigid robots, flexible robots have soft and extensible bodies enforcing their abilities to absorb shock and vibration, hence reducing the impact of probable collisions. Due to their high adaptability and minimally invasive features, soft robots are used in various fields. The McKibben hydraulic artificial muscles are the most popular soft actuator because of the controllability of hydraulic actuator and high force to weight ratio. When its deformation reaches a certain level, the actuators can be stopped automatically without any other braking mechanism. The research of McKibben hydraulic artificial muscles is beneficial to the theoretical analysis of soft actuators in the mechanical system. The design of soft actuators with different deformations promotes the development of soft robots. In this paper, a static modeling of the McKibben hydraulic artificial muscles is established, and its correctness is verified by theoretical analysis and experiment. In this model, the deformation mechanism of the artificial muscle and the law of output force is put forward. The relationship between muscle pressure, load, deformation, and muscle design parameters is presented through the mechanical analysis of the braid, elastic tube, and sealed-end. The law of the muscle deformation with high pressure is predicted. The reason for the muscle’s tiny elongation with extremely high pressure is found through the analysis of the relationship between the angle of the braid, the length of single braided thread, and the pressure. With the increase of pressure, the angle of the braid tends to a fixed value. As the stress of braided thread increases, so does its length. The length changes obviously when the stress is extremely enormous. The angle of the braid and the length of the braided thread control the deformation of artificial muscles, resulting in a slight lengthening with extreme high pressure. Under normal pressure, the length of the braided wire is negligible, so that the entire muscle becomes shorter. According to the modeling and theoretical analysis, a new McKibben hydraulic artificial muscle that can elongate under normal rising pressure is designed. This artificial muscle can grow longer with pressure increases, eventually reaching its maximum length. During this time, its diameter barely changes. Its access pressure is higher than that of conventional elongated artificial muscles. Through experiments, the relationship between the muscle deformation, pressure, and load still conform to this theoretical model. This model can be used for the control of soft actuators and the design of new soft robots. This extensional McKibben hydraulic artificial muscles and the conventional McKibben hydraulic artificial muscles can be used in the bilateral control of soft robots.

Magnetically directed soft actuators driven by moisture

2017 ◽  
Vol 5 (17) ◽  
pp. 4129-4133 ◽  
Author(s):  
Fengxian Gao ◽  
Ning Zhang ◽  
Xiaodong Fang ◽  
Mingming Ma
Keyword(s):  
Superparamagnetic Nanoparticles ◽  
Directional Motion ◽  
Polypyrrole Film ◽  
Soft Actuators

Herein we report the fabrication of a moisture-driven actuator capable of performing directional motion, by incorporating superparamagnetic nanoparticles into a water-responsive polypyrrole film.

scholarly journals Implementation of Soft-Lithography Techniques for Fabrication of Bio-Inspired Multi-Layer Dielectric Elastomer Actuators with Interdigitated Mechanically Compliant Electrodes

Actuators ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 73 ◽  
Author(s):  
Mert Corbaci ◽  
Wayne Walter ◽  
Kathleen Lamkin-Kennard
Keyword(s):  
Soft Lithography ◽  
Skeletal Muscles ◽  
Actuation Voltage ◽  
Transition Process ◽  
Humanoid Robots ◽  
Dielectric Elastomer ◽  
Industrial Robots ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Soft Actuators

Advancements in software engineering have enabled the robotics industry to transition from the use of giant industrial robots to more friendly humanoid robots. Soft robotics is one of the key elements needed to advance the transition process by providing a safer way for robots to interact with the environment. Electroactive polymers (EAPs) are one of the best candidate materials for the next generation of soft robotic actuators and artificial muscles. Lightweight dielectric elastomer actuators (DEAs) provide optimal properties such as high elasticity, rapid response rates, mechanical robustness and compliance. However, for DEAs to become widely used as artificial muscles or soft actuators, there are current limitations, such as high actuation voltage requirements, control of actuation direction, and scaling, that need to be addressed. The authors’ approach to overcome the drawbacks of conventional DEAs is inspired by the natural skeletal muscles. Instead of fabricating a large DEA device, smaller sub-units can be fabricated and bundled together to form larger actuators, similar to the way myofibrils form myocytes in skeletal muscles. The current study presents a novel fabrication approach, utilizing soft lithography and other microfabrication techniques, to allow fabrication of multilayer stacked DEA structures, composed of hundreds of micro-sized DEA units.

scholarly journals Graphene/silver nanoflower hybrid coating for improved cycle performance of thermally-operated soft actuators

2020 ◽  
Vol 10 (1) ◽  
Author(s):  
Chengxu Piao ◽  
Ji Won Suk
Keyword(s):  
High Performance ◽  
Hybrid Coating ◽  
Cycle Performance ◽  
Artificial Muscles ◽  
Pristine Graphene ◽  
Pulsed Current ◽  
Enhanced Heat Transfer ◽  
Graphene Flakes ◽  
Sewing Threads ◽  
Soft Actuators

Abstract Twisted and coiled actuators (TCAs), fabricated by twisting cheap nylon sewing threads, have attracted a great deal of attention for their use as artificial muscles or soft actuators. Since the dynamic behavior of a thermally-operated TCA is governed by its thermal properties, graphene and silver nanoflowers (AgNFs) were spray-coated onto the surface of an actuator to achieve enhanced heat transfer. Addition of AgNFs improves interfacial thermal contacts between graphene flakes, while pristine graphene flakes have extremely high in-plane thermal conductivity. Thus, the synergistic effect of graphene and AgNFs reduced the total cycle time of the TCA by up to 38%. Furthermore, when a pulsed current with a 40% duty cycle was applied to the TCA, the graphene/AgNF-coated TCA exhibited a threefold larger peak-to-peak amplitude of the displacement oscillation of the actuator, as compared to that of the non-coated TCA, which demonstrates that the combination of graphene and AgNFs effectively reduced a cooling time of the TCA. This work shows great potential for a simple coating of graphene and AgNFs to produce high-performance thermally-operated soft actuators.

scholarly journals Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator

Actuators ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 32 ◽  
Author(s):  
Shuhei Kawamura ◽  
Mizuki Sudani ◽  
Mingcong Deng ◽  
Yuichi Noge ◽  
Shuichi Wakimoto
Keyword(s):  
System Integration ◽  
Degrees Of Freedom ◽  
Small Diameter ◽  
Experimental System ◽  
Longitudinal Direction ◽  
Axial Direction ◽  
Artificial Muscles ◽  
Contraction Force ◽  
Proposed Model ◽  
Soft Actuators

Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input–output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

scholarly journals Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

2020 ◽  
Vol 10 (2) ◽  
pp. 640 ◽  
Author(s):  
Jung-Hwan Youn ◽  
Seung Mo Jeong ◽  
Geonwoo Hwang ◽  
Hyunwoo Kim ◽  
Kyujin Hyeon ◽  
...  
Keyword(s):  
State Of The Art ◽  
Dielectric Elastomer ◽  
Artificial Muscles ◽  
Soft Robot ◽  
Optical Components ◽  
Dielectric Characteristics ◽  
Dielectric Elastomer Actuators ◽  
Potential Applications ◽  
Working Principle ◽  
Soft Actuators

This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft robots. This paper begins with the introduction of the working principle of the dielectric elastomer actuators. Because the operation of DEA includes the physics of both mechanical viscoelastic properties and dielectric characteristics, we describe theoretical modeling methods for the DEA before introducing applications. In addition, the design of artificial muscles based on DEA is also introduced. This paper reviews four popular subjects for the application of DEA: soft robot hand, locomotion robots, wearable devices, and tunable optical components. Other potential applications and challenging issues are described in the conclusion.

Development of a Flexible Conductive Polymer Membrane on Electroactive Hydrogel Microfibers

2009 ◽  
Vol 1234 ◽  
Author(s):  
Maria Joseph Bassil ◽  
Michael Ibrahim Ibrahim ◽  
Eddy Souaid ◽  
Georges El Haj Moussa ◽  
Mario Remond El Tahchi ◽  
...  
Keyword(s):  
Electrical Stimulation ◽  
Conducting Polymers ◽  
Vinyl Alcohol ◽  
Conductive Polymer ◽  
The Other ◽  
Time Response ◽  
Poly Vinyl Alcohol ◽  
Artificial Muscles ◽  
Problem Of Time ◽  
Gel Membranes

AbstractConducting polymers and hydrogels are two classes of polymers that currently receive an increasing attention in the field of biomaterials, particularly for their application in the assembly of artificial muscles. In this paper we present the development of Polyacrylamide (PAAM) microfibers and polyaniline (PANI) - poly vinyl alcohol (PVA) conductive gel membrane.The fabricated PAAM microfibers have diameters between 1 and 12μm depending on the preparation parameters. These microfibers respond instantaneously to 100mV electrical stimulation, which solves the problem of time response of the hydrogels. On the other hand, we showed that the inclusion of conducting chains within a crosslinked gel matrix allows combining the conductivity of the PANI with the mechanical flexibility of PVA in order to provide flexible gel membranes that can adhere to the PAAM microfibers to ensure their electrical stimulation.

scholarly journals Dielectric Elastomer Grippers

2021 ◽  
Vol 10 (5) ◽  
pp. 33-36
Author(s):  
Mills Patel ◽  
Rudrax Khamar ◽  
Akshat Shah ◽  
Tej shah ◽  
Bhavik Soneji
Keyword(s):  
Mechanical Properties ◽  
Power Generation ◽  
State Of The Art ◽  
Artificial Muscle ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Working Principle ◽  
Soft Actuators

This paper appraisals state-of-the-art dielectric elastomer actuators (DEAs) and their forthcoming standpoints as soft actuators which have freshly been considered as a crucial power generation module for soft robots. DEs behave as yielding capacitors, expanding in area and attenuation in thickness when a voltage is applied. The paper initiates with the explanation of working principle of dielectric elastomer grippers. Here the operation of DEAs include both physics and mechanical properties with its characteristics, we have describe methods for modelling and its introductory application. In inclusion, the artificial muscle based on DEA concept is also formally presented. This paper also elaborates DEAs popular application such as- Soft Robotics, Robotics grippers and artificial muscles.

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