This paper presents an introduction to ionic polymer-metal composites and some mathematical modeling pertaining to them. It further discusses a number of recent findings in connection with ion-exchange polymer-metal composites (IPMCS) as biomimetic sensors and actuators. Strips of these composites can undergo large bending and flapping displacement if an electric field is imposed across their thickness. Thus, in this sense they are large motion actuators. Conversely by bending the composite strip, either quasi-statically or dynamically, a voltage is produced across the thickness of the strip. Thus, they are also large motion sensors. The output voltage can be calibrated for a standard size sensor and correlated to the applied loads or stresses. They can be manufactured and cut in any size and shape. In this paper first the sensing capability of these materials is reported. The preliminary results show the existence of a linear relationship between the output voltage and the imposed displacement for almost all cases. Furthermore, the ability of these IPMCs as large motion actuators and robotic manipulators is presented. Several muscle configurations are constructed to demonstrate the capabilities of these IPMC actuators. This paper further identifies key parameters involving the vibrational and resonance characteristics of sensors and actuators made with IPMCS. When the applied signal frequency varies, so does the displacement up to a critical frequency called the resonant frequency where maximum deformation is observed, beyond which the actuator response is diminished. A data acquisition system was used to measure the parameters involved and record the results in real time basis. Also the load characterizations of the IPMCs were measured and it was shown that these actuators exhibit good force to weight characteristics in the presence of low applied voltages. Finally reported are the cryogenic properties of these muscles for potential utilization in an outer space environment of a few Torrs and temperatures of the order of - 140 degrees Celsius. These muscles are shown to work quite well in such harsh cryogenic environments and thus present a great potential as sensors and actuators that can operate at cryogenic temperatures.

https://iopscience.iop.org/article/10.1088/0964-1726/7/6/001/pdf

Ionic polymer-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles - a review

Biomimetic fish-like propulsion using polyelectrolyte ion-exchange membrane metal composites as a propulsion fin for a robotic swimming structure, such as a boat swimming in water medium, was investigated. The membrane was chemically plated with platinum. The resulting membrane was cut in a strip to resemble fish-like caudal fin for propulsion. A small function generator circuit was designed and built to produce approximately /spl plusmn/2.0 V amplitude signal at desired frequency up to 50 Hz. The circuit board was mounted on a buoyant Styrofoam shaped like a boat or a tadpole. The fin was attached to the rear of the boat. By setting the signal frequency to the desired value and thereby setting the frequency of bending oscillation of the membrane, a proportional forward propulsion speed could be obtained. The speed was then measured using a high speed camera. Several theoretical hydrodynamic models were then presented to characterize speed-frequency of the forward motion using available theories on biological fish motion. The results were compared to experimental data which showed close agreement.

Biomimetic robotic propulsion using polymeric artificial muscles

Ionic polymer-metal composites (IPMC) as biomimetic sensors and actuators

This paper discusses a number of recent findings in connection with ion-exchange polymer-noble metal composites (IPMC) as biomimetic sensors and actuators.

Ionic Polymer-Metal Composites (IPMC) as Biomimetric Sensors and Actuators-Artificial Muscles

Ion exchange membranes (JEM) chemically treated with platinum salt so1uions gives rise to IEM-platinum composites that undergo large deformations in an electric field of a few volts (2-4 volts/mm). They also show remarkable vibrational characteristics of about 80 lIz bandwidth. A simple theoretical treatment as well as some experimental evidence on the dependence of deformation amplitude on the imposed voltages and frequencies are presented.© (1996) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Ion exchange membrane-platinum composites as electrically controllable artificial muscles

Intelligent material systems and structures have become important in recent years due to some potential engineering applications. Accordingly, based on such materials, structures and their integration with appropriate sensors and actuators, novel applications, useful for a large number of engineering applications have emerged. Here, a mathematical model is presented for the dynamic response of contractile fiber bundles embedded in or around elastic springs that are either linear helical compression springs or hyperelastic springs such as rubber-like materials. The fiber bundle is assumed to consist of a parallel array of contractile fibers made from either contractile polymeric muscles such as polyacrylic acid plus sodium acrylate cross-linked with bisacrylamide (PAAM) or polyacrylonitrile (PAN) fibers. The proposed model considers the electrically or pH-induced contraction of the fibers which may include resistive heating of the fiber in case of shape-memory alloys. The theory then branches out to two different description of such processes for ionic polymeric gel fiber bundles and shape-memory alloy fiber bundles.

Electro-thermo-mechanics of spring-loaded contractile fiber bundles with applications to ionic polymeric gel and SMA actuators

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Electro-thermo-mechanics of spring-loaded contractile fiber bundles with applications to ionic polymeric gel and SMA actuators