• Journal of Advanced Marine Engineering and Technology
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• v.32 no.5
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• pp.759-767
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• 2008

Bending deformation of an ionic polymer actuator(IPA) on applied low electric field across its thickness is dominated by electroosmosis of hydrated ions and self-diffusion of free water molecules. In the study by Popovic et al., two processes are assumed to occur sequentially in the way that fast electroosmosis is followed by self-diffusion and finite element formulation for the basic field equations are proposed. However the motions of hydrated ions and water molecules occur at the same time. In this study, those two processes are considered simultaneously and finite element formulation is conducted for the basic field equations governing electrochemical response of an IPA. Some numerical studies for IPA are carried out in order to show the validity of the present formulation.

• Polymer(Korea)
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• v.26 no.1
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• pp.113-120
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• 2002

Electrostriction is the phenomenon that a material is strained due to Maxwell stress developed by the applied voltage. In many electrostrictive materials, especially polymeric elastomers can produce large deformation and force due to their low elastic modulus. In this study, polyurethanes and acrylic rubber with compliant electrodes were used as electrostrictive polymer(EP) actuator. Actuation characteristics of the EP actuators with different physical properties of dynamic modulus and dynamic dielectiric constant were analyzed under AC field. The classical laminate theory was also used to simulate the actuation process in relation to the geometry and the physical properties of the actuators.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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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.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.52 no.7
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• pp.298-304
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• 2003

IPMC(Ionic Polymer-Metal Composite) is a highly sensitive actuator that shows a large deformation in presence of low applied voltage. Generally, IPMC can be fabricated by electroless plating of platinum on both sides of a Nafion (perfluorosulfonic acid) film. When a commercial Nafion film is used as a base structure of the IPMC membrane, the micro-pump structure and the IPMC membrane are fabricated separately and then later assembled, which makes the fabrication inefficient. Therefore, fabrication of an IPMC membrane and the micro-pump structure on a single wafer without the need of assembly have been developed. The silicon wafer was partially etched to hold liquid Nafion to be casted and a 60-${\mu}{\textrm}{m}$ thick IPMC membrane was realized. IPMC membranes with various size were fabricated by casting and they showed 4-2${\mu}{\textrm}{m}$ displacements from $4mm{\times}4mm$ , $6mm{\times}6mm$, $8mm{\times}8mm$ membranes at the applied voltage ranging from 2Vp-p to 5Vp-p at 0.5Hz. The displacement of the fabricated IPMC membranes is fairly proportional to the membrane area and the applied voltage.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1217-1218
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• 2013

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.894-903
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• 2008

In this paper, we present an artificial muscle actuator producing rectilinear motion, called the Tube-Spring-Actuator(TSA). The TSA is supposed to be a prospective substitute in areas requiring macro forces such as robotics. It is simply configured from a synthetic elastomer tube with an inserted spring. The design of the TSA is described in detail and its analysis is conducted to investigate the characteristics of the actuator based on the derived model. In addition, the performance of the proposed actuator is tested via experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1271-1279
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• 2004

A new bio-mimetic actuator is proposed. The actuator realizes bidirectional actuation since it is with a stretched film antagonistically configured with compliant electrodes. Also, it is distinguished from existing actuators with respect to the controllability of its compliance. Bidirectional actuation and compliance controllability are important characteristics for the artificial muscle actuator and the proposed one accomplishes these requirements without any mechanical substitute or complicated algorithms. In this paper its basic concepts and working principles are introduced with static and dynamic analysis. Control strategies for displacement as well as stiffness are introduced and experimental results are given to confirm the effectiveness of the proposed methods. In addition, an example of robotic actuating devices is given to confirm the usefulness of the proposed actuator.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.78.3-78
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• 2002

In this paper, we present a five-DOF actuator based on dielectric elastomer. The actuator is designed for generating five DOFs motions to drive a micro camera steering module and provides all the functions for controlling CCD array such as focusing, pan and tilting. Basic modeling of the actuator is performed, and simulation works and experimental verifications are conducted, too. The camera steering module includes most parts necessary for driving the actuator such as a micro-controller and DC-DC converter, etc. It can be operated with a personal computer using only communication lines without external power supply. A prototype is developed and its performance is experimentally proved. $\textbullet$ artificial muscle, EAP, actuator.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1401-1406
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• 2003

Mechanical behavior of a piezoelectric actuator is studied as a preceding research for the manufacturing of three-dimensional micro-structures. It is needed to examine the simulation of a piezoelectric actuator according to applied direction of voltage, by researching displacement characterization of piezoelectric material through piezoelectric theory. To this end, finite element modeling is employed to study the response of a piezoelectric material under the various input voltages. Where the actuator is simulated by use of ANSYS. To avoid direct contact piezoelectric material with working fluid, silicon, polymer, etc., the actuator is modeled with nickel fixed diaphragm.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.3
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• pp.369-375
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• 2010

The two-dimensional finite element formulation for the basic field equations governing electrochemical responses of ionic conducting polymer-metal composite(IPMC) actuators is proposed in the present study. Biaxial deformation of a platinum plated Nafion actuator having 4 electrodes is dominated by electro-osmosis of hydrated ions and self-diffusion of free water molecules. Some numerical studies for IPMC actuators with electric field are carried out in order to show the validity of the proposed formulation and electric field analysis for the initial condition of total charge distribution are conducted using commercial code ANSYS/Emag.