9 April 2013 Kinetics evaluation of using biomimetic IPMC actuators for stable bipedal locomotion
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Abstract
Ionic conducting polymer-metal composites (IPMC) are flexible actuators that can act as artificial muscles in many robotic and microelectromechanical systems. The authors have already investigated the possibility of kinematically stable bipedal locomotion using these actuators. Fabrication parameters of actuators including minimum lengths, installation angles, plating thicknesses and maximum required voltages were found in previous studies for a stable bipedal gait with maximum speed of 0.1093 m/s. Extending the FEA solution of the governing partial differential equation of the behavior of IPMCs to 2D, actuator limits were found. Considering these limits, joint path trajectories were generated to achieve a fast and smooth motion on a seven-degree of freedom biped robot. This study utilizes the same biped model, and focuses on the kinetics of the proposed gait in order to complement the evaluation of using IPMCs as biomimetic actuators for bipedal locomotion. The dynamic equations of motion of the previously designed bipedal gait are solved here to find the maximum required joint torques. Blocking force of a flap of IPMC is found by plugging results of the FEA into a model based on beam theories. This force adequately predicts the maximum deliverable torque of a piece of IPMC with certain length. Feasibility of using IPMCs as joint actuators is then evaluated by comparing the required and achievable torques. This study concludes the previous work to cover feasibility, stability and design of a biped robot actuated with IPMC flaps.
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M. Hosseinipour, M. Hosseinipour, M. Elahinia, M. Elahinia, "Kinetics evaluation of using biomimetic IPMC actuators for stable bipedal locomotion", Proc. SPIE 8687, Electroactive Polymer Actuators and Devices (EAPAD) 2013, 86870V (9 April 2013); doi: 10.1117/12.2013873; https://doi.org/10.1117/12.2013873
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