• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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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 Mechanical Science and Technology
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• 제18권1호
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• pp.1-11
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• 2004

The ionic Polymer Metal Composite (IPMC) is one of the electroactive polymers (EAP) that was shown to have potential application as an actuator It bends by applying a low voltage current (1∼3 V) to its surfaces when containing water In this paper, the basic characteristics and the static ＆ dynamic modeling of IPMC is discussed. In modeling and analysis, the equations of motion, which describe the total dynamics of the system, are driven. To control the position of the IPMC actuator, an adaptive fuzzy algorithm is used. IPMC is a time varying system because the some parameters vary with the passage of time. In this paper, the modeling and control of IPMC is introduced.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1521-1526
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• 2008

IPMC(Ionic Polymer-Metal Comosite) exhibits large deformation, having great attention in many application fields. It generates bending moment by ion exchange polymer film. It can be quickly bended by the applied voltage across the plated electrode of the polymer film. In the present paper, we derive the theoretical modeling and dynamic analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. The theoretical model of a cantilever IPMC actuator estimates the moment produced by the applied voltage. The dynamic characteristics, including natural frequencies and frequency response, are calculated by the theoretical model, and they are compared with the experimental results and finite element analysis. It is shown that the mathematical modeling allows precise estimation to the voltage-driven motion of the cantilever IPMC in air.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1012-1016
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• 2004

In the present paper, equivalent beam and equivalent bimorph beam models for IPMC(ionic Polymer-Metal Composite) actuators are described. Physical properties of an IPMC, such as Young's modulus and electro-mechanical coupling coefficient. are determined from the rule of mixture, bimorph beam equations, and measured force-displacement data of a cantilevered IPMC actuator. By using a beam equation with estimated physical properties, actuation displacements of a cantilevered IPMC actuator was calculated and a good agreement between the computed tip displacements and the measured data was observed. Finite element analysis(FEA) combined with the estimated physical properties was used to reproduce the force-displacement relationship of an IPMC actuator. Results from the FEA agreed well with the measure data. The proposed models might be used for modeling of IPMC actuators with complicated shapes and boundary conditions.

• 한국정밀공학회지
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• 제20권4호
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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.

• 폴리머
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• 제26권1호
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• pp.105-112
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• 2002

연구는 electro-active polymer(EAP)의 특성을 가지는 ion-exchange polymer metal composite(IPMC)을 이용하여 지능형 대장내시경 개발에 목적을 두고 있다. IPMC는 낮은 구동전압과 빠른 반응속도로 인하여 매우 매력적인 물질이다. 본 연구에서는 IPMC구동기의 전극을 무전의 도금 방법을 이용하여 용액함침-환원방법(impregnation-reduction method)으로 제조하였으며 코팅된 백금전극의 횟수에 따라 변위와 변화를 측정하였다. 구동특성을 알아보기 위하여 길이, 주파수에 대한 변위, 힘을 측정하였으며, 주파수 대역은 저주파 대역과 공명주파수 대역을 사용하는 것이 적합하다는 결론을 얻었다. 또한 다양한 구동적 특성과 수분의 함량에 따른 영향에 대해 고전적 적층 이론 (classical laminate theory, CLT)을 이용하여 이방성 IPMC의 응력분포와 수분이동에 따른 모멘트, 변형률, 곡률(cuvature)을 모델링 하였다.

• Smart Structures and Systems
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• 제19권5호
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• pp.553-565
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• 2017

Structural modeling of unencapsulated ionic polymer metal composite (u-IPMC) actuators that are used for flapping the insect scale-flapping wing of micro air vehicles (FMAV) in dry environmental conditions is carried out. Structural modeling for optimization of design parameters for retention of water, maximize actuation performance and to study the influence of water activity on the actuation characteristics of u-IPMC is explored for use in FMAV. The influence of equivalent weight of Nafion polymer, cations, concentration of cations, pre-treatment procedures on retention of water of u-IPMCs and on actuation parameters, flapping angle, flexural stiffness and actuation displacement are investigated. IPMC designed with Nafion having equivalent weight 900-1100, pre-heated at $30^{\circ}C$ and with sodium as the cations is promising for optimum retention of water and actuation performance. The actuation parameters while in operation in dry and humid environment with varying water activity can be tuned to desirable frequency, deflection, flap angle and flexural stiffness by changing the water activity and operational temperature of the environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.173-174
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• 2007

• 한국정밀공학회지
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• 제24권12호
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• pp.36-41
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• 2007

• 센서학회지
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• 제20권6호
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• pp.375-381
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• 2011

Ionic polymer-metal composite(IPMC) consists of an ion conductive membrane plated by metallic electrodes on both surfaces. When it bends, a voltage is generated between two electrodes. Since IPMC is flexible and thin, it can be easily mounted on the various surfaces of a body. The present study investigates a sensor system using IPMC to effectively detect the bending angles applied on IPMC sensor. The paper evaluates several R and C circuit models that describe the physical composition of IPMC and selects the best model for the detection of angles. The circuit models implemented with a charge model describe the relationship between input bending angles and output voltages. The identification of R and C values was performed by minimizing the error between the real output voltages and the simulated output voltages from the circuit models of IPMC sensor. Then the output signal of a sensor was fed into the inverse model of the identified model to reproduce the bending angles. In order to support the validation of the model, the output voltages from an arbitrary bending motion were also applied to the selected inverse model, which successfully reproduced the arbitrary bending motion.