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Proceedings Paper

An analysis of the increase of bending response in IPMC dynamics given uniform input
Author(s): Kentaro Takagi; Yoshihiro Nakabo; Zhi-Wei Luo; Toshiharu Mukai; Masanori Yamamura; Yoshikazu Hayakawa
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Paper Abstract

It is found from the locomotion of snake-like underwater robot using Ionic Polymer-Metal Composite (IPMC) as its actuator that, although we specify the same amplitude of driven voltages to each segmented IPMC unit, the resultant bending amplitudes along the body's progressive waves change from small to large toward the robot's tail. To analyze this phenomenon, which is also observed in locomotions of slender fishes, we discuss the modeling and analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. Eigenfunction expansion technique is used to solve the model of a partial differential equation. The envelope curve can be drawn by the obtained solution, and simulation results reappear the same phenomenon. Deflection of the real robot is measured by video camera and laser beam. Experimental results verifies the validity of the proposed model. Parameter identification is also performed with measured data.

Paper Details

Date Published: 15 March 2006
PDF: 12 pages
Proc. SPIE 6168, Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD), 616814 (15 March 2006); doi: 10.1117/12.658421
Show Author Affiliations
Kentaro Takagi, The Institute of Physical and Chemical Research (Japan)
Yoshihiro Nakabo, National Institute of Advanced Industrial Science and Technology (Japan)
The Institute of Physical and Chemical Research (Japan)
Zhi-Wei Luo, The Institute of Physical and Chemical Research (Japan)
Toshiharu Mukai, The Institute of Physical and Chemical Research (Japan)
Masanori Yamamura, Nagoya Univ. (Japan)
Yoshikazu Hayakawa, Nagoya Univ. (Japan)
The Institute of Physical and Chemical Research (Japan)


Published in SPIE Proceedings Vol. 6168:
Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD)
Yoseph Bar-Cohen, Editor(s)

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