An analysis of the increase of bending response in IPMC dynamics given uniform input

Kentaro Takagi; Yoshihiro Nakabo; Zhi-Wei Luo; Toshiharu Mukai; Masanori Yamamura; Yoshikazu Hayakawa

doi:10.1117/12.658421

15 March 2006 An analysis of the increase of bending response in IPMC dynamics given uniform input

Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Toshiharu Mukai, Masanori Yamamura, Yoshikazu Hayakawa

Proceedings Volume 6168, Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); 616814 (2006) https://doi.org/10.1117/12.658421
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2006, San Diego, California, United States

Abstract

It is found from the locomotion of snake-like underwater robot using Ionic Polymer-Metal Composite (IPMC) as its actuator that, although we specify the same amplitude of driven voltages to each segmented IPMC unit, the resultant bending amplitudes along the body's progressive waves change from small to large toward the robot's tail. To analyze this phenomenon, which is also observed in locomotions of slender fishes, we discuss the modeling and analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. Eigenfunction expansion technique is used to solve the model of a partial differential equation. The envelope curve can be drawn by the obtained solution, and simulation results reappear the same phenomenon. Deflection of the real robot is measured by video camera and laser beam. Experimental results verifies the validity of the proposed model. Parameter identification is also performed with measured data.

Citation Download Citation

Kentaro Takagi, Yoshihiro Nakabo, Zhi-Wei Luo, Toshiharu Mukai, Masanori Yamamura, and Yoshikazu Hayakawa "An analysis of the increase of bending response in IPMC dynamics given uniform input", Proc. SPIE 6168, Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD), 616814 (15 March 2006); https://doi.org/10.1117/12.658421

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