• 대한의용생체공학회:의공학회지
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• 제28권3호
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• pp.348-354
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• 2007

Polymer actuators, which are also called as smart materials, change their shapes when electrical, chemical, thermal, or magnetic energy is applied to them and are useful in wide variety of applications such as microelectromechanical systems (MEMS), machine components, and artificial muscles. For this study, Polyaniline/carbon-nanotube polymer actuator that is one of electroactive polymer actuators was prepared. Since the nonlinear phenomena of hysteresis and a step response are essential considerations for practical use of polymer actuators, we have investigated the movement of the Polyaniline/carbon-nanotube polymer actuator and have developed an integrated model that can be used for simulating and predicting the hysteresis and a step response during actuation. The Preisach hysteresis model, one of the most popular phenomenological models of hysteresis, were used for describing the hysteretic behavior of Polyaniline/carbon-nanotube polymer actuator while the ARX method, one of system identification techniques, were used for modeling a step response. In this paper, we first expain details in preparation of the Polyaniline/carbon-nanotube polymer then present the mathematical description of our model, the extraction of the parameters, simulation results from the model, and finally a comparison with measured data.

• 한국정밀공학회지
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• 제32권10호
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• pp.865-871
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• 2015

This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.714-717
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• 2007

In this study, a novel actuator was developed by employing the newly-synthesized ionic networking membrane (INM) of poly (styrene-alt-maleic anhydride) (PSMAn)-incorporated poly (vinylidene fluoride) (PVDF). Based on the same original membrane, various samples of INM actuator were prepared through different reduction times with the electroless-plating technique. The as-prepared INM actuators were tested in terms of surface resistance, platinum morphology, resonance frequency, tip displacement, current and blocked force, and their performance was compared to that of the widely-used traditional Nafion actuator. Scanning electron microscope (SEM) and transmission electron microscopy (TEM) revealed that much smaller and more uniform platinum particles were formed on the surfaces of the INM actuators as well as within their polymer matrix. Although excellent harmonic response was observed for the newly-developed INM actuators, this was found to be sensitive to the applied reduction times during the fabrication. The mechanical displacement of the INM actuator fabricated after optimum reduction times was much larger than that of its Nafion counterpart of comparable thickness under the stimulus of constant and alternating current voltage.

• ETRI Journal
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• 제31권6호
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• pp.695-702
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• 2009

We propose a lens-drive unit composed of an ionic polymer-metal composite (IPMC) for an auto-focus compact camera module in cellular phones to solve the power consumption problem of voice coil motors which are widely used in commercial products. In this research, an IPMC incorporated into a lens-drive unit is designed to implement a large displacement in low-power consumption by using an anisotropic plasma treatment. Experimental results show that a camera module containing IPMCs can control and maintain the position of the lens by using proportional integral derivative control with a photo-reflective position sensor despite the non-linear actuation behavior of IPMCs. We demonstrate that the fabrication and commercialization of a lens actuator that has a large displacement and low power consumption using IPMCs is possible in the near future.

• 대한화학회지
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• 제42권6호
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• pp.664-671
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• 1998

유기 전도성 고분자들중 전도성이 뛰어나고 전기화학적으로 중합이 용이하며 안정성이 뛰어난 피로고분자(ppy)는 산화-환원 활성자리에 회합되는 이온종에 따라서 피막의 형태학적 구조가 다양하다. 그러나 공기중에서 쉽게 노화하며 잘 부서지고 물과 친하지 않은 단점이 있다. 이를 개선하기 위하여 이 다공성 ppy 피막에 높은 개시전위를 갖는 퓨란고분자(pfu)를 끼워심기 중합한 Pt/ppy/pfu(x)전극을 제작하여 그 전기화학적 성질들을 순환전압전류법과 전기호학적 임피던스법으로 조사하였다. 이 때 사용된 도판트 이온은 $PF_6^-,\; BF_4^-$, 그리고 $ClO_4^-$이온 이였으며, pfu의 조성은 ppy에 대하여 0∼1.10 범위였는데 그 조성이 0.1∼0.2의 범위에 있을 때 가장 좋은 산화환원 특징을 나타냈다. 또, $PF_6^-$ 이온이 도우핑되었을 때 전하전달 저항은 다른 이온들로 중합된 것에 비하여 40배정도 낮았으며, 이 중층의 용량은 다른 두 종에 비하여 20배정도 큰 값을 보였다. 전하전달은 주파수의 변화에 영향을 받으며 물질전달에 의한 Warburg 임피던스 항이 포함되는 등가회로를 갖는다.

• 폴리머
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• 제27권3호
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• pp.195-200
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• 2003

알지네이트는 곁사슬에 강한 음이온을 가지고 있어 전기장 하에서 구동 특성을 발현할 수 있다. 본 연구에서는 가교제로 CaCl$_2$를 사용하여 가교 알지네이트 필름을 제조하였고, 제조된 필름의 열적 특성, 기계적 특성 및 전기적 구동 특성을 열중량 분석, 인장 강도 실험 및 전기응답 실험을 통하여 조사하였다. 가교제의 농도가 증가함에 따라 필름의 초기 분해 온도와 인장 강도가 증가하였다. 또한 팽윤비는 사슬 내 자유부피와 정전기적 반발력에 기인하여 가교제 농도의 감소와 pH가 증가함에 따라 증가하였다. 저기 자극에 의하여 알지네이트 필름은 유연한 물리적 거동을 발현하였다. 전기장에서 전압, 이온 강도 및 저해질 용액의 종류에 따라서 필름의 응답 속도 띤 거동에 영향을 주었다. 가교제의 농도가 5 wt%일 때 가장 좋은 굽힘 거동과 반복 회복성을 보였으며, NaCl과 KCl 전해질 용액의 이온 강도가 0.1 M일 때 가장 높은 전기 반응성을 나타냈다. 또한 전압이 증가됨에 따라 전하의 이동이 활발해지고 따라서 굽힘 거동이 증가하였다.

• 한국정밀공학회지
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• 제32권10호
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• pp.873-878
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• 2015

A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.

• 한국기계가공학회지
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• 제10권5호
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• pp.131-136
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• 2011

Many researchers are recently studying about Electroactive polymer(EAP). But it has a physical limitation, because of property of material. Carbon nanotube(CNT) is known as the promising material which has excellent electro-mechanical characteristics and is mostly defect-free. It is expected that a successful synthesis of CNT and Nafion known as a primary material for IPMC would make a great improvement on its electro-mechanic feature. This study focuses on the method of synthesis of CNT with Nafion which improves electro-mechanical characteristic. To come up with mechanical dispersion with Nafion and Isopropyl Alcohol(IPA), we dispersed Single-walled carbon nanotubes(SWCNTs). For a uniformly layer of CNT, we used a spray gun on a hot plate by a simplified method. We fabricated a disperse SWCNT/Nafion composite uniformly. Through the use of the E-beam evaporator to form an uniform electrode layer, we consummated the IPMC actuator. This result shows improving 1.5 times mechanical properties about driving force in IPMC.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1232-1235
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• 2005

In recent years, as the robot technology is developed the researches on the artificial muscle actuator that enable robot to move dextrously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electroactive polymer. These actuators have the higher energy density than the electromechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper the segmented binary control for reducing the hysteresis of SMA is proposed and the simulation of anthropomorphic robotic hand is performed using ADAMS.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.463-463
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• 2006

Nowadays, subminiature lens actuators are being developed with the demand of AF lens for high performance of the mobile phone camera. Though the VCM is the current, development of new types of actuators are needed due to the structural problem and etc.. A new type of actuator for AF lens using Dielectric Elastomer Electroactive Polymer(EAP) is proposed in this paper, DE EAP has advantages in its weight, ease of fabrication and low power consumption. The mathematical model is obtained by Hamilton's principle and verified by finite element analysis and experiments. The controller is designed and evaluated by experiments.