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Optimal Positioning Control of IPMC Actuators

[+] Author Affiliations
Smriti Tripathi, Majura Selekwa, Andrew Naversen

North Dakota State University, Fargo, ND

Paper No. IMECE2014-38663, pp. V04BT04A017; 6 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4648-3
  • Copyright © 2014 by ASME


There has been a growing interest in electroactive polymers (EAP) because of their ability to serve as artificial muscles for both macro and micro positioning tasks. Ionic Polymer Metal Composites (IPMC) are among the EAP materials that have been extensively studied in the last few years. Along with development of better manufacturing methods and increasing understanding of their mechanical properties, extensive studies have been geared towards controlling the actuation of these actuators. Despite many efforts, the one problem that has not been fully addressed is on electromechanical modeling and control of these actuators. This paper presents additional details on the model that was earlier proposed by the authors for positioning such actuators. Experimental data on Nafion IPMC specimens of various sizes indicated that the specimen has both resistive and capacitive properties that vary with time. By using this experimental data, electrodynamics and electrostatics principles were used in developing an electromechanical model that was experimentally validated on Nafion IPMC specimens of various sizes again. The resulting model was found to be nonlinear time varying that can be linearized and controlled by standard linear optimal control algorithms.

Copyright © 2014 by ASME



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