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Proceedings Paper

Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control
Author(s): Kentaro Takagi; Suguru Hirayama; Shigenori Sano; Naoki Uchiyama; Kinji Asaka
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Paper Abstract

In practical applications, stress-relaxation phenomenon is not preferable feature of IPMC (ionic polymer-metal composite) actuators. In this study, we propose a control method using two (or more) IPMCs in order to reduce the stress-relaxation phenomenon. In the experiment, the force generated by two IPMC strips is measured by a force sensor. The proposed control signal consists of a small fluctuating signal which is oscillating independently of the command, in addition to a simple feedback controller with a feedforward term. We have found that the time to reach the limit voltage became more than twice if the fluctuating signal was added.

Paper Details

Date Published: 3 April 2012
PDF: 8 pages
Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83402J (3 April 2012); doi: 10.1117/12.915161
Show Author Affiliations
Kentaro Takagi, Nagoya Univ. (Japan)
RIKEN (Japan)
Suguru Hirayama, Toyohashi Univ. of Technology (Japan)
Shigenori Sano, Toyohashi Univ. of Technology (Japan)
Naoki Uchiyama, Toyohashi Univ. of Technology (Japan)
Kinji Asaka, National Institute of Advanced Industrial Science and Technology (Japan)

Published in SPIE Proceedings Vol. 8340:
Electroactive Polymer Actuators and Devices (EAPAD) 2012
Yoseph Bar-Cohen, Editor(s)

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