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Proceedings Paper

Feedback-controlled oscillatory motor using ionic polymer materials
Author(s): Kenneth M. Newbury; Donald J. Leo
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Paper Abstract

A small oscillatory motor is developed using ionic polymer materials as both the actuator and sensor for feedback control. The motor consists of a small metal ring with multiple ionic polymer actuators as drive elements. The actuation signal produces in-phase motion of the cantilevers. A separate cantilever is attached as an AC displacement or velocity sensor for the motor rotation. A laser vibrometer is utilized to measure the actual rotational displacement of the motor. Experiments are performed to demonstrate the ability of feedback to control the waveform of the motor output. The open-loop bandwidth of the motor is approximately 15 Hz with four cantilevers mounted in the motor. DC actuation of the motor is not possible with the ionic polymer sensor due to the lack of a DC displacement signal from the ionic polymer sensor. Open-loop and closed-loop experiments on the motor illustrate some of the advantages and disadvantages of ionic polymer materials. The advantages are low-voltage operation and the relative simplicity of the feedback control algorithms. Although DC actuation is not possible, waveform control is possible using a highly-resonant bandpass filter as the feedback compensator. Experimental results demonstrate that bandpass compensation enables waveform control in the 3 to 5 Hz frequency range when using four cantilever actuators. The disadvantage of ionic polymer materials are that hydration is required to maximize actuation and that distortion in the sensing output reduces the effectiveness of feedback control. The conclusion of the study is that ionic polymer materials are a viable candidate for low weight motion control although hydration and output distortion limit the motor performance.

Paper Details

Date Published: 5 August 2003
PDF: 12 pages
Proc. SPIE 5056, Smart Structures and Materials 2003: Smart Structures and Integrated Systems, (5 August 2003); doi: 10.1117/12.483482
Show Author Affiliations
Kenneth M. Newbury, Virginia Polytechnic Institute and State Univ. (United States)
Donald J. Leo, Virginia Polytechnic Institute and State Univ. (United States)

Published in SPIE Proceedings Vol. 5056:
Smart Structures and Materials 2003: Smart Structures and Integrated Systems
Amr M. Baz, Editor(s)

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