Artificial Muscle

Artificial Muscle - Ionic Polymer-Metal Composite (IPMC)...

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Unformatted text preview: Ionic Polymer-Metal Composite (IPMC) "artificial muscle" Adapted from Bar-Cohen et al., 2000 Environmental Robots Inc. "Flying Pair of Wing Polymeric Muscles in Air" Adapted from Shahinpoor et al., 2003 Manufacturing Start with an ion exchange polymer. e.g., NafionTM (perfluorinated alkene) Plate the polymer with a conducting electrode. Initial compositing process Soak in salt solution such as Pt(NH3)4HCl Pt diffuses into polymer Surface electroding Add reducing agent (LiBH4 or NaBH4) A layer of Pt is deposited on surface Adapted from Shahinpoor et al., 2001 How does it work? Primary Activation - Bending Water molecules couple with cations. In the absence of an electric potential, the water/cation pairs and anions are uniformly distributed. When a voltage is applied, the water/cation pairs and anions redistribute to balance the charge. This causes the negative side of the polymer to swell more than the positive side, resulting in bending actuation. Adapted from Jung et al., 2003 Induced Stress and Strain The radius of curvature is related to the length of the beam and the end deflection. L2 + d 2 r@ 2d The induced strain is related to the thickness and radius of curvature of the beam. e@ h 2r Adapted from Shahinpoor et al., 2001 The induced stress is related to the applied moment and to the thickness and moment of inertia of the beam. s= Mh 2I References Y. Bar-Cohen, "Challenges to the Transition of IPMC Artificial Muscle Actuators to Practical Application," MRS Symposium Proceedings, vol. 600, 2000, pp. 13-20. K. Jung, "Investigations of actuation characteristics of IPMC artificial muscle actuator," Sensors and Actuators, A: Physical, vol. 107, no. 2, Oct. 15, 2003, pp. 183-192. M. Shahinpoor, "Ionic polymer-metal composites: I. Fundamentals," Smart Materials and Structures, vol. 10, no. 4, 2001, pp. 819-833. Environmental Robots Inc., http://www.environmental-robots.com/ ...
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This note was uploaded on 06/26/2008 for the course AME 20241 taught by Professor Wagner during the Spring '08 term at Notre Dame.

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