Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Fuzzy control and Modeling of IPMC Actuator for the Endoscopic Microcapsule

캡슐형 내시경 로봇의 IPMC 액추에이터 모델링 및 퍼지 제어 알고리듬 개발에 대한 연구

  • 오신종 (성균관대학교 대학원 기계공학부) ;
  • 김훈모 (성균관대학교 기계공학부) ;
  • 최혁렬 (성균관대학교 기계공학부) ;
  • 전재욱 (성균관대학교 전기전자컴퓨터공학부) ;
  • 남재도 (성균관대학교 고분자공학부)
  • Published : 2003.04.01
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Abstract

The Ionic Polymer Metal Composite (IPMC) is one of the electroactive polymer (EAP) have potential application as micro actuators. In this study, IPMC is used as actuator to control of the direction for the endscopic microcapsule. Because it bends in water and wet conditions by applying a low voltage (1∼3 V) to its surfaces. The basic characteristics and the static modeling of IPMC are discussed. Also the dynamic modeling is performed using the Lagrange' equation. Computer simulation results show that the performed modeling guarantee similarity of actual system.

Keywords

References

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