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20 October 2009 A rotary joint sensor using ionic polymer metallic composite
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Proceedings Volume 7493, Second International Conference on Smart Materials and Nanotechnology in Engineering; 74932K (2009) https://doi.org/10.1117/12.821071
Event: Second International Conference on Smart Materials and Nanotechnology in Engineering, 2009, Weihai, China
Abstract
Ionic Polymer Metallic Composite (IPMC) is a smart material that can be used to make sensors for various applications. This paper investigates the use of IPMC for sensing the motion of a rotary joint. In this research, the relationship between the motion of a rotary joint and the IPMC sensor's voltage output was investigated and modeled. The relationships defining the sensor's response were developed into a routine which was used to calculate the bending angle and bending speed of a joint, based on the voltage response of an IPMC sensor. Experimental verification of the model produced results for measuring bending angles with an accuracy of within 3% across most of the range of angles. The accuracy of the measured bending speed was found to be related to the joint motion; with errors ranging from 0.4% at a slow bending speeds ( ≤150°s-1) up to an error of ~8% at fast bending speeds ( ≥ 200°s-1). Additional variables such as bending direction and starting position were also investigated to determine their effects on the sensor's response. It is concluded that the methods developed in this study provide a more complete description of the relationship between IPMC sensor voltage and joint motion than has previously been documented.
© (2009) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
A. van den Hurk, X. J. Chew, K. C. Aw, and S. Q. Xie "A rotary joint sensor using ionic polymer metallic composite", Proc. SPIE 7493, Second International Conference on Smart Materials and Nanotechnology in Engineering, 74932K (20 October 2009); https://doi.org/10.1117/12.821071
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