Characteristics and Modeling of ICPF Actuator : 16th Report : A estimation of Nafion-Au ICPF actuator model

This paper presents a new design for a single active finger ionic polymer metal composite (IPMC) microgripper. This design has one stationary finger and one actuating finger. The gripper is tested in comparison with a two fingered gripper (2FG) on its ability to perform pick and place operations. The grippers each use IPMC strips in three widths: 1.25 mm, 2.5 mm and 5.0 mm. The single fingered gripper shows success rates of 86.2%, 89.2%, and 75% respectively versus 78.5%, 93.9% and 75% for a 2FG. The single fingered gripper performance is nearly equivalent to that of a 2FG. Even though a single finger produces half the force, its ability to carry objects is as good as or better than a 2FG. In addition, the stationary finger is considerably stiffer than an active IPMC finger, which helps in positional accuracy. Using half the IPMC, the single fingered gripper is the economical choice.

Single active finger IPMC microgripper

Ionic polymer metal composite (IPMC) is a type of smart material that has gained the interest of many researchers due to its ability to achieve large displacements under small input voltages, usually less than 2.5 V. This has motivated the use of these materials in microsystems and systems in the millimeter scale, such as microgrippers. However, few of the control techniques developed thus far have considered the feasibility of using IPMCs in closed loop systems without the need of oversized external sensors. This paper presents a control scheme for a two-finger IPMC microgripper that accomplishes constant finger-tip displacements without external sensors. This scheme generates a displacement-dependent, time varying reference signal to obtain constant finger-tip displacements applied by a separate actuated IPMC. This actuator uses a PID controller tuned with a model-free approach, and is gain scheduled to span up to 1 mm finger-tip displacements. The microgripper achieves zero steady state error for finger-tip displacements on the tuned values of the PID controller. The gain scheduled PID controller is tested and results show zero steady state error to 0.25 mm displacements, and 15 and 20% steady state error when referenced to deflection of 0.45 and 0.75 mm, respectively. This shows that there is great confidence and validity of the control scheme, especially when tracking small reference deflections.

https://iopscience.iop.org/article/10.1088/0964-1726/24/5/055011/pdf

An IPMC microgripper with integrated actuator and sensing for constant finger-tip displacement

Ionic Polymer Metal Composite (IPMC) actuators have recently attracted significant attentions in many industrial, medical and biomedical applications, especially for those that require an aqueous medium. IPMC actuators can produce a large deflection under a low driving voltage. Moreover, they are soft and flexible which make them suitable to be used to hold and pick up different species of tiny living objects or handle biological material. As a matter of fact, these tasks require accurate path tracking which motivates us to develop an IMPC tracking control system for its tip displacement to perform micro-positioning for underwater applications. In this paper, we carry out the modeling of the IPMC actuator under study and also design a simple but effective tracking controller for the IPMC to follow desired tracking profiles. Experiments were performed to verify the control design for the IPMC actuator and the results show that the tip displacement of the IPMC actuator can follow different desired reference signals at acceptable response speed and accuracy.

Modeling and tracking control of an IPMC actuator for underwater applications

\n The paper presents the results of an investigation of a possibility for energy harvesting from a flexible material such as an ionic polymer–metal composite (IPMC) placed in a steady flow of air characteristic of conditions typical to a densely urbanized area. As electro-active devices require dynamic loading to produce current, their response is usually evaluated in unsteady and turbulent flows, where an electro-active polymer follows the movement of the medium surrounding the device. In our study, we examine the flow conditions at which flutter sets the IPMC strip in motion. Although flutter is often perceived as an unfavorable phenomenon for aerodynamic applications and civil structures, it may be beneficial for harvesting wind energy. Of particular interest is that this phenomenon may occur in a steady flow, which potentially expands the range of favorable flow conditions for energy harvesting. In the paper, the air speed at which flutter occurs and the speed range at which flutter is sustained are provided along with the estimated amount of power produced in an IPMC sample of specified dimensions.

https://par.nsf.gov/servlets/purl/10156088

Harvesting Energy From an Ionic Polymer–Metal Composite in a Steady Air Flow

This paper utilizes a FEA (Finite Element Analysis) model to determine the change in performance that results from varying the size and shape of multiple IPMC (Ionic Polymer-Metal Composite) fingers. Unlike earlier IPMC models that predicted only deflection, this effort predicts both deflection and force. Modeling these different fingers, we are able to determine the tip deflection and force output which can then be verified experimentally. A 7 mm × 17 mm finger was modeled and determined to have a deflection of 1.44 mm and force of 2.61 mN, while the experimental data was determined to be 1.4 mm and 2.0 mN, respectively. The model had an error of 2.77% deflection and 23.37% force. Another triangular finger was also modeled in a similar fashion.

Force and deflection modeling of IPMC fingers

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

J. Simpson

Author Tools

Chat about Author

Papers

Force and deflection modeling of IPMC fingers