• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.103.3-103
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• 2001

Recently Electro active polymer has been discussed in various researches as new actuators replacing the human muscles. Since they have confronted a limitation of more advanced application with traditional actuator. IPMC (Ion exchange Polymer Metal Composite) is one of candidate materials for new actuators. In this paper, we propose a new approach and design principle for the IPMC polymer actuator to conquer the weaknesses of IPMC that is intrinsic weak structural stiffness and low trust forces. In the first we performs some experimental works about how the basic specific characteristics of IPMC vary and what the optimal operating conditions are. And we have applied IPMC as active cilium for realization of annelida motion like ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.5-105
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• 2002

Digital Polymer Motor (DPM) based on dielectric elastomer is presented. It includes all the supplementary parts for actuation such as micro-controller, DC-DC converter etc. DPM can be operated by itself with the program embedded and controlled via serial interface with PC. The actuator accomplishes bidirectional actuation and compliance controllability, which are important characteristics for a biomimetic artificial muscle actuator. DPM accomplish these requirements without any mechanical substitute or complicated algorithms. Its basic concepts and working principles are addressed with modeling and simulation and the compliance controllability are verified by conducting several experiments. $\textbullet$ Polymer, Dielectric, Biomimetic

• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.658-664
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• 2013

Bending actuators composed of cellulose with an electrically conducting polymer (CP) are fabricated and their performance is characterized in the air. Two different counter ions, perchlorate and tetrafluoroborate are used as dopant ions in the polyaniline CP processing. CP-cellulose-CP trilayer and CP-cellulose bilayer samples are fabricated with different dopant ions, and their actuation performance is evaluated in terms of tip displacement, blocked force and electrical power consumption along with the humidity level and actuation frequency. The trilayer samples substantially enhanced the tip displacement compared to the bilayer ones. The actuation performance of the trilayer actuator is three times better than that of original cellulose electro-active paper (EAPap) actuator. The displacement and blocked force of CP-EAPap actuators are dependent on the humidity and frequency.

• Composites Research
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• v.20 no.3
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• pp.50-54
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• 2007

The Ionic Polymer Metal Composite (IPMC), an electro-active polymer, has many advantages including bending actuation, low weight, low power consumption, and flexibility. These advantages coincide with the requirements of a bio-related application. Thus, IPMC is promising materials for bio-mimetic actuator and sensor applications. Before applying IPMC to actual application, basic mechanical properties of IPMC should be studied in order to utilize IPMC for practical uses. Therefore, IPMCs are fabricated to investigate the mechanical characteristics. Nafion is used as a base ionic polymer. Mason samples cast with various thicknesses are used to test the thickness effects of IPMC. Subsequently, IPMC is fabricated using the chemical reduction method. The deformation, blocking force and frequency response of the IPMC actuator are important properties. In this present study, the performances of the IPMC actuators, including the deformation, blocking force and natural frequency, are then obtained according to only the input voltage and IPMC dimensions. Finally, the empirical performance model and the equivalent stiffness model of the IPMC actuator are established using experiments results.

• Applied Chemistry for Engineering
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• v.16 no.4
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• pp.527-532
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• 2005

Ionic polymer metal composites (IPMC) are soft polymeric smart materials having large displacement at low voltage in air and water. The polymeric electrolyte actuator consists of a thin and porous membrane and metal electrodes plated on both faces, in impregnation electro-plating method. The response and actuation of actuator are governed. Among many factors governing the activation and response of IPMC actuator, the surface electrode plays an important role. In this study, the well-designed modification of electrode surface was carried out in order to improve the chemical stability well as electromechanical characteristics of the IPMC actuator. We employed Ion Beam Assisted Deposition (IBAD) method to prepare the topologically homogeneous thin surface electrode. After roughing the surface of Nafion membrane in order to get a larger surface area, the IPMC was prepared by impregnation for electro-plating and re- coating on the surface through traditional chemical deposition, followed by an additional surface treatment with high conductive metals with IBAD. It was observed that our IPMC specimen shows the enhanced surface electrical properties as well as the improved actuation and response characteristics under applied electric field.

• Macromolecular Research
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• v.14 no.6
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• pp.624-629
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• 2006

The cellulose-based, Electroactive Paper (EAPap) has recently been reported as a smart material with the advantages of lightweight, dry condition, biodegradability, sustainability, large displacement output and low actuation voltage. However, it requires high humidity.. This paper introduces an EAPap made with a cellulose solution and lithium chloride (LiCl), which can be actuated in room humidity condition. The fabrication process, performance test and effect of LiCl content of the EAPap actuator are illustrated. The bending displacement of the EAPap actuators was evaluated with actuation voltage, frequency, humidity and LiCl content changes. At a LiCl/ cellulose content of 3:10, the displacement output was maximized at a room humidity condition. Even though the displacement output was less than that of a high humidity EAPap actuator, the mechanical power output was not reduced due to the increased resonance frequency, which is promising for developing EAPap actuators that are less sensitive to humidity.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.656-659
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• 2003

Although Hereafter a mass production will claim for patterning nano sized thickness or line in micro-nano industry. existent lithography fabrication has many usable fields, it has complex fabrication steps, expensive values and row work rates. Development of Dip-pen type nano plotter using polymer actuator can construct row cost mass production system because it will change existent lithography fabrication more simple and easy.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.2
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• pp.81-85
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• 2017

Fiber-reinforced polymer composites, which are made by combining a continuous fiber that acts as reinforcement and a homogeneous polymeric material that acts as a host, are engineering materials with high strength and stiffness and a lightweight structure. In this study, a shape memory alloy(SMA) reinforced composite actuator is presented. This actuator is used to generate large deformations in single lightweight structures and can be used in applications requiring a high degree of adaptability to various external conditions. The proposed actuator consists of numerous individual laminas of the glass-fiber fabric that are embedded in a polymeric matrix. To characterize its deformation behavior, the composition of the actuator was changed by changing the matrix material and the number of the glass-fiber fabric layers. In addition, current of various magnitudes were applied to each actuator to study the effect of the heating of SMA wires on applying current.

• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.748-755
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• 2006

In this paper, a trade-off design and fabrication of IPMC(Ionic Polymer Metal Composites) as an actuator for a flapping device have been described. Experiments for the internal solvent loss of IPMCs have been conducted for various combinations of cation and solvent in order to find out the best combination of cation and solvent for minimal solvent loss and higher actuation force. From the experiments, it was found that IPMCs with heavy water as their solvent could operate longer. Relations between length/thickness and tip force of IPMCs were also quantitatively identified for the actuator design from the tip force measurement of 200, 400, 640, and $800{\mu}m$ thick IPMCs. All IPMCs thicker than $200{\mu}m$ were processed by casting $Nafion^{TM}$ solution. The shorter and thicker IPMCs tended to generate higher actuation force but lower actuation displacement. To improve surface conductivity and to minimize solvent evaporation due to electrically heated electrodes, gold was sputtered on both surfaces of the cast IPMCs by the Physical Vapor Deposition(PVD) process. For amplification of a short IPMC's small actuation displacement to a large flapping motion, a rack-and-pinion type hinge was used in the flapping device. An insect wing was attached to the IPMC flapping mechanism for its flapping test. In this test, the wing flapping device using the $800{\mu}m$ thick IPMC. could create around $10^{\circ}{\sim}85^{\circ}$ flapping angles and $0.5{\sim}15Hz$ flapping frequencies by applying $3{\sim|}4V$.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.197-201
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• 1993

A method for the closedloop control of the torsional tip motion of a piezo-polymer actuator is presented. The application of Lyapunov's direct, method to the problem is explored. A feedback control of the torsional tip motion of tile piezopolymer actuator is derived by considering tile time rate of change of the total energy of the system. If the angular velocity of the tip of the actuator is known, all the modes of tile actuator can be controlled simultaneously. This approach has tile advantage over the conventional methods in the respect that it allows one to directly with tile system's partial differential equations without resorting to approximations.