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Proceedings Paper

A nonlinear scalable model for designing ionic polymer-metal composite actuator systems
Author(s): A. J. McDaid; K. C. Aw; E. Hämmerle; S. Q. Xie
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Paper Abstract

This paper proposes a conclusive scalable model for Ionic Polymer Metal Composites (IPMC) actuators and their interactions with mechanical systems and external loads. This dynamic, nonlinear model accurately predicts the displacement and force actuation in air for a large range of input voltages. The model addresses all the requirements of a useful design tool for IPMC actuators and is intended for robotic and bio-mimetic (artificial muscle) applications which operate at low frequencies. The response of the IPMC is modeled in three stages, (i) a nonlinear equivalent electrical circuit to predict the current drawn, (ii) an electro-mechanical coupling term, representing the conversion of ion flux to a stress generated in the polymer membrane and (iii) a mechanical beam model which includes an electrically induced torque for the polymer. Mechanical outputs are in the rotational coordinate system, 'tip angle' and 'torque output', to give more practical results for the design and simulation of mechanisms. Model parameters are obtained using the dynamic time response and results are presented demonstrating excellent correspondence between the model and experimental results. This newly developed model is a large step forward, aiding in the progression of IPMCs towards wide acceptance as replacements to traditional actuators.

Paper Details

Date Published: 20 October 2009
PDF: 8 pages
Proc. SPIE 7493, Second International Conference on Smart Materials and Nanotechnology in Engineering, 74930P (20 October 2009); doi: 10.1117/12.839809
Show Author Affiliations
A. J. McDaid, The Univ. of Auckland (New Zealand)
K. C. Aw, The Univ. of Auckland (New Zealand)
E. Hämmerle, The Univ. of Auckland (New Zealand)
S. Q. Xie, The Univ. of Auckland (New Zealand)


Published in SPIE Proceedings Vol. 7493:
Second International Conference on Smart Materials and Nanotechnology in Engineering
Jinsong Leng; Anand K. Asundi; Wolfgang Ecke, Editor(s)

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