10 April 2008 A scalable dynamic model for ionic polymer-metal composite actuators
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Ionic polymer-metal composites (IPMCs) have built-in sensing and actuation capabilities which make them attractive in many biomedical and biological applications. In this paper a physics-based but control-oriented dynamic model is proposed for IPMC actuators. The modeling work starts from the governing partial differential equation (PDE) that describes the charge redistribution dynamics under external electrical field, electrostatic interactions, ionic diffusion, and ionic migration along the thickness direction. It is further extended by incorporating the effect of distributed surface resistance. The electrical impedance model is obtained by deriving the exact solution to the governing PDE in the Laplace domain. By assuming a linear electromechanical coupling, an actuation model which relates bending displacement to voltage input is derived. The model is represented as an infinite-dimensional transfer function, which is amenable to model reduction and real-time control design while capturing fundamental physics. It thus bridges the traditional gap between the physics-based perspective and the system-theoretic perspective on modeling of IPMC materials. The model is expressed in terms of fundamental material parameters and dimensions of the IPMC, and is therefore geometrically scalable. The latter has been further confirmed in experiments.
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Zheng Chen, Zheng Chen, Xiaobo Tan, Xiaobo Tan, } "A scalable dynamic model for ionic polymer-metal composite actuators", Proc. SPIE 6927, Electroactive Polymer Actuators and Devices (EAPAD) 2008, 69270I (10 April 2008); doi: 10.1117/12.776508; https://doi.org/10.1117/12.776508

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