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Proceedings Paper

Linear modeling of elongated bending EAP actuator at large deformations
Author(s): Indrek Must; Mart Anton; Maarja Kruusmaa; Alvo Aabloo
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Paper Abstract

This paper describes a linear dynamic model of an elongated bending Electroactive Polymer (EAP) actuator applicable with deformations of any magnitude. The model formulates relation of a) voltage applied to the EAP sheet, b) current passing through the EAP sheet, c) force applied by the actuator and d) deformation of the actuator. In this model only the geometry of EAP piece and four empirical parameters of the EAP material: a) bending stiffness, b) electromechanical coupling term, c) electrical impedance and d) initial curvature are considered. The contribution of this paper is introducing a model that can be used to characterize the properties of different EAP materials and compare them. The advantage of the model is its simplicity and ability to provide insights in to the behavior of bending EAPs. Additionally, due to linearity of the model, the real-time control is feasible. Experiments, using Ionomeric Polymer-Metal Composite (IPMC) sheet from Environmental Robotics Inc., where carried out to verify the model. The experimental results confirm the model is valid.

Paper Details

Date Published: 6 April 2009
PDF: 12 pages
Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 728723 (6 April 2009); doi: 10.1117/12.815776
Show Author Affiliations
Indrek Must, Tartu Univ. (Estonia)
Mart Anton, Tartu Univ. (Estonia)
Michigan State Univ. (United States)
Maarja Kruusmaa, Tartu Univ. (Estonia)
Tallinn Univ. of Technology (Estonia)
Alvo Aabloo, Tartu Univ. (Estonia)

Published in SPIE Proceedings Vol. 7287:
Electroactive Polymer Actuators and Devices (EAPAD) 2009
Yoseph Bar-Cohen; Thomas Wallmersperger, Editor(s)

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