0

Full Content is available to subscribers

Subscribe/Learn More  >

An Ionic-Polymer-Metal-Composite Electrical Model With a Linear Time-Variant Method

[+] Author Affiliations
Yi-chu Chang, Won-jong Kim

Texas A&M University, College Station, TX

Paper No. DSCC2013-3803, pp. V003T42A002; 8 pages
doi:10.1115/DSCC2013-3803
From:
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME

abstract

Ionic polymer metal composite (IPMC), categorized as an ionic electroactive polymer (EAP), can exhibit conspicuous deflection with low external voltages (∼5 V). This material has been commonly applied in robotic artificial muscles since reported in 1992 because it can be fabricated in various sizes and shapes. Researchers developed numerous IPMC models according to its deflection in response to the corresponding input stimulation. In this paper, an IPMC strip is modeled (1) as a cantilever beam with a loading distribution on the surface, and (2) with system identification tools, such as an autoregressive with exogenous (ARX)/autoregressive moving average with exogenous (ARMAX) model and an output-error (OE) model. Nevertheless, the loading distribution is non-uniform due to the imperfect surface conductivity. Finally, a novel linear time-variant (LTV) modeling method is introduced and applied to an IPMC electrical model on the basis of the internal environment such as surface resistance, thickness, and water distribution related to the unique working principle of IPMC. A comparison between the simulated and the experimental deflections demonstrates the benefits and accuracy of the LTV electrical model.

Copyright © 2013 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In