• Proceedings of the KSME Conference
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• 2001.11a
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• pp.716-722
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• 2001

In this paper, the modeling and control of electrostrictive polymer is introduced for endoscopic microcapsule. The endoscopic microcapsule works in the body, so the material of robot must be no harmful to the body. The electrostrictive polymer satisfies this condition. The modeling and control of endoscope microcapsule must be processed. So the modeling and control of electrostrictive was processed preferentially. The electrostrictive polymer is so flexible that we considered the electrostrictive polymer as flexible membrane. The dynamic equation of flexible membrane is time variant in electrostrictive polymer. It is the reason that the elastic modulus of electrostrictive polymer is very small and changes as deformation of electrostrictive polymer. The control algorithm must overcome these characteristics. So the algorithm of adaptive fuzzy control was used to control. In this paper, we introduced the dynamic modeling and control of electrostrictive polymer. And its deformation is introduced.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.660-666
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• 2001

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 $(1\sim3\;V)$ 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.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.4
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• pp.39-48
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• 2003

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.