Grasshopper Knee Joint - Torque Analysis of Actuators Using Ionic Polymer Metal Composites (IPMC)

2014 ◽  
Vol 19 ◽  
pp. 13-23 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun
Keyword(s):  
Knee Joint ◽  
Low Voltage ◽  
Joint Torque ◽  
Metal Composite ◽  
Ionic Polymer ◽  
Wolfram Mathematica ◽  
Polymer Metal ◽  
Torque Analysis ◽  
Simulation Results ◽  
Fish Fins

Biomimetic is the field of engineering which involves analyzing the biological beings and incorporating their designs and systems for manufacturing mechanical systems. An Ionic Polymer metal composite (IPMC) is a smart material that displays a significant 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. In this paper, a two-link biomimetic knee joint mechanism of a grass hopper is presented. Secondly, an IPMC pair of strips is proposed as a link that enables the actuating force which is modeled on the basis of the grass hopper's leg. Thirdly, dynamic model is developed for the proposed mechanism through Lagrangian mechanics. Fourthly, power series is utilized for the solution of the non-linear transcendental model. Wolfram mathematica is employed for the simulation of the model. Finally, the effect of torque is analyzed by varying the actuating torque. It is concluded that actuating torque is directly proportional to the angles moved and inversely proportional to the potential energies of the linkage. Furthermore, a stiffer and more vibrant linkage is observed as per simulation results. These results are validated theoretically. Our simulation results indicate that the proposed IPMC has the potential for utilization in small biomimetic applications like insects robots joints activation, underwater fish fins, surgical grippers, synthetic ventricular muscles and human catheter system for endoscopic surgery and diagnostics etc.

Grasshopper Knee Joint – Inverse Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators

2014 ◽  
Vol 19 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman
Keyword(s):  
Knee Joint ◽  
Low Voltage ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Ionic Polymer ◽  
Wolfram Mathematica ◽  
Polymer Metal ◽  
Transcendental Functions ◽  
Simulation Results

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant 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.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

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.

Multiple path generation by a flexible four-bar mechanism using ionic polymer metal composite

2012 ◽  
Vol 23 (12) ◽  
pp. 1379-1393 ◽  
Author(s):  
Ravi K Jain ◽  
Somajoyti Majumder ◽  
Ashish Dutta
Keyword(s):  
Bending Moment ◽  
Design Parameters ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Adams Software ◽  
Multiple Paths ◽  
Polymer Metal ◽  
Simulation Results ◽  
Novel Design

This article presents a novel design of a flexible four-bar crank–rocker mechanism using ionic polymer metal composite for generating multiple paths, which can be applied in microassembly. In order to control the deflection of links and the resultant path, active ionic polymer metal composite patches are fixed on the coupler and are actuated by a voltage (0–3 V direct current). The main focus of this article is to determine the number, size, and location of the ionic polymer metal composite patches to be used on the coupler to get a desired path. A dynamic model of the mechanism is made in ADAMS software and the design parameters are identified. A mathematical model of ionic polymer metal composite patch is developed through experiments to achieve the bending moment relationship with voltage, and this is used while simulating its behaviors. The simulation results show that the proposed mechanism can generate multiple paths, using different voltages for ionic polymer metal composite activation. The proposed mechanism is then fabricated, and experiments are carried out to compare the experimental and simulation results. It is proved that the proposed new mechanism is superior to earlier designs of four bars using ionic polymer metal composite, and the paths generated can more effectively be controlled.

scholarly journals Sensing and Self-Sensing Actuation Methods for Ionic Polymer–Metal Composite (IPMC): A Review

Sensors ◽  
2019 ◽  
Vol 19 (18) ◽  
pp. 3967 ◽  
Author(s):  
WanHasbullah MohdIsa ◽  
Andres Hunt ◽  
S. Hassan HosseinNia
Keyword(s):  
Low Voltage ◽  
Capacitive Sensor ◽  
Active Sensing ◽  
Metal Composite ◽  
Full Spectrum ◽  
Ionic Polymer ◽  
Passive Sensing ◽  
Polymer Metal ◽  
Sample Frequency ◽  
Actuation Systems

Ionic polymer–metal composites (IPMC) are smart material transducers that bend in response to low-voltage stimuli and generate voltage in response to bending. IPMCs are mechanically compliant, simple in construction, and easy to cut into desired shape. This allows the designing of novel sensing and actuation systems, e.g., for soft and bio-inspired robotics. IPMC sensing can be implemented in multiple ways, resulting in significantly different sensing characteristics. This paper will review the methods and research efforts to use IPMCs as deformation sensors. We will address efforts to model the IPMC sensing phenomenon, and implementation and characteristics of different IPMC sensing methods. Proposed sensing methods are divided into active sensing, passive sensing, and self-sensing actuation (SSA), whereas the active sensing methods measure one of IPMC-generated voltage, charge, or current; passive methods measure variations in IPMC impedances, or use it in capacitive sensor element circuit, and SSA methods implement simultaneous sensing and actuation on the same IPMC sample. Frequency ranges for reliable sensing vary among the methods, and no single method has been demonstrated to be effective for sensing in the full spectrum of IPMC actuation capabilities, i.e., from DC to ∼100 Hz. However, this limitation can be overcome by combining several sensing methods.

Characterization of Sectored-Electrode IPMC-Based Propulsors for Underwater Locomotion

2011 ◽  
Author(s):  
Joel J. Hubbard ◽  
Maxwell Fleming ◽  
Kam K. Leang ◽  
Viljar Palmre ◽  
David Pugal ◽  
...  
Keyword(s):  
Experimental Study ◽  
Power Consumption ◽  
Robotic System ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Marine Systems ◽  
Polymer Metal ◽  
Fish Fins

Ionic polymer-metal composite (IPMC) actuators with sectored (patterned) electrodes have been fabricated for realizing bending and twisting motion. Such IPMCs can be used to create next-generation artificial fish-like propulsors that can mimic the undulatory, flapping, and complex motions of real fish fins. Herein, a thorough experimental study is performed on sectored IPMCs to characterize their performance. Specifically, results are presented to show (1) the achievable twisting response; (2) blocking force and torque; (3) power consumption and effectiveness; and (4) propulsion characteristics. The results can be utilized to guide the design of practical marine systems driven by IPMC propulsors. The design of an example underwater robotic system is also described which employs the IPMC actuators, and the performance of the robotic system is reported.

Fish Inspired Biomimetic Ionic Polymer Metal Composite Pectoral Fins Using Labriform Propulsion

2011 ◽  
Author(s):  
G. Karthigan ◽  
Sujoy Mukherjee ◽  
Ranjan Ganguli
Keyword(s):  
Fish Species ◽  
Smart Materials ◽  
Low Voltage ◽  
Hydrodynamic Performance ◽  
Metal Composite ◽  
Classical Dynamic ◽  
Ionic Polymer ◽  
Pectoral Fins ◽  
Polymer Metal ◽  
Fin Design

Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power consumption, and good performance in aqueous environments. Thus, IPMC’s provide promising application for biomimetic fish like propulsion systems. In this paper, we design and analyze IPMC underwater propulsor inspired from swimming of Labriform fishes. Different fish species in nature are source of inspiration for different biomimetic flapping IPMC fin design. Here, three fish species with high performance flapping pectoral fin locomotion is chosen and performance analysis of each fin design is done to discover the better configurations for engineering applications. In order to describe the behavior of an active IPMC fin actuator in water, a complex hydrodynamic function is used and structural model of the IPMC fin is obtained by modifying the classical dynamic equation for a slender beam. A quasi-steady blade element model that accounts for unsteady phenomena such as added mass effects, dynamic stall, and the cumulative Wagner effect is used to estimate the hydrodynamic performance of the flapping rectangular shape fin. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus and Sthethojulis trilineata, are analyzed with numerical simulations. Finally, a comparative study is performed to analyze the performance of three different biomimetic IPMC flapping pectoral fins.

scholarly journals A 3D analytical ion transport model for ionic polymer metal composite actuators in large bending deformations

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Mohsen Annabestani ◽  
Nadia Naghavi ◽  
Mohammad Maymandi-Nejad
Keyword(s):  
Ion Transport ◽  
Low Voltage ◽  
Transport Model ◽  
Three Dimensional ◽  
Input Voltage ◽  
Metal Composite ◽  
Electric Voltage ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Tip Displacement

AbstractIonic polymer metal composites (IPMCs) are a kind of soft electroactive polymer composites. An IPMC strip commonly has a thin polymer membrane coated with a noble metal as electrodes on both sides. Whenever an electric voltage is applied to the IPMC, it bends and whenever it is deformed, a low voltage is measurable between its electrodes, hence IPMC is an actuator as well as a sensor. They are well known for their promising features like low density, lightness, high toughness and remarkable stimulus strain, also, they have the potential for low-voltage operation while exhibiting acceptable large bending deformation. In this paper, a three-dimensional (3D), dynamic and physics-based model is presented analytically and experimentally for IPMC actuators. The model combines the ion transport dynamics within the IPMC and the bending dynamics of it as a beam under an electrical stimulation. In particular, we present an analytical model to create a relation between the input voltage and the output tip displacement of an IPMC actuator for large bending deformations. Experimental results show that the proposed model captures well the tip displacement.

Integral multiple models online identifier applied to ionic polymer–metal composite actuator

2018 ◽  
Vol 29 (14) ◽  
pp. 2863-2873 ◽  
Author(s):  
Jakub Bernat ◽  
Jakub Kolota
Keyword(s):  
Smart Materials ◽  
Low Voltage ◽  
Feedback Gain ◽  
Multiple Models ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Polymer Metal

Ionic polymer–metal composites are classified as a smart materials group, whose properties can be designed depending on the needs that arise. Ionic polymer–metal composites belong to the class of wet electroactive polymers. They are promising candidates actuator for various potential applications mainly due to their flexible, low voltage requirements, compact design, and lack of moving parts. However, being a widely used material in industry, ionic polymer–metal composite requires complex control methods due to its strongly nonlinear nature. An important prerequisite for an intelligent controller is the ability to adapt rapidly to any unknown operating environment. This article presents a novel approach to tuning multiple models of an online identifier by integral mapping. Through the extension of the estimation law of additional mapping between parameters and measurable signals, we significantly improve transient responses without increasing feedback gain. The authors measured the moisture content of ionic polymer–metal composite and consider in the experiment relationship between drying and varying of curvature output. The effectiveness of the proposed multiple models adaptive control strategy was verified in various experiments. The results of the study illustrated in the experiments show that adding new mapping improves not only the transients of controlled plant, but also increases the performance indexes of adaptive system.

Model-Based Nonlinear Control of Ionic Polymer-Metal Composite Actuators

2009 ◽  
Author(s):  
Zheng Chen ◽  
Xiaobo Tan
Keyword(s):  
Nonlinear Control ◽  
Low Voltage ◽  
Tracking Error ◽  
Metal Composite ◽  
Nonlinear Controller ◽  
Ionic Polymer ◽  
Segment Model ◽  
Model Based ◽  
Polymer Metal ◽  
Tracking Error Control

Ionic polymer-metal composites (IPMCs) are soft materials that can generate large deformation under a low voltage. IPMCs have many potential applications in biomedical, robotic and micro/nano manipulation systems. In this paper, we first present a distributed, nonlinear circuit model for IPMC, which incorporates the nonlinear capacitance, the nonlinear DC resistance, and the effect of surface resistance. The bending displacement is proportional to the total stored charge in IPMC. After discretizing the model in the length direction, we obtain a multiple-segment model which can be represented in the state space for nonlinear control design. The model is validated using experimental data, and we show that a one-segment model can predict the current and displacement response reasonably well. A model-based nonlinear controller is proposed for IPMC actuators, where feedback linearization is applied. Simulation results show that model-based nonlinear controller delivers better performance than a traditional PI controller in terms of the tracking error, control effort, and robustness to sensing noises.

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