A scalable dynamic model for ionic polymer-metal composite actuators

Zheng Chen; Xiaobo Tan

doi:10.1117/12.776508

10 April 2008 A scalable dynamic model for ionic polymer-metal composite actuators

Zheng Chen, Xiaobo Tan

Proceedings Volume 6927, Electroactive Polymer Actuators and Devices (EAPAD) 2008; 69270I (2008) https://doi.org/10.1117/12.776508
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2008, San Diego, California, United States

Abstract

Ionic polymer-metal composites (IPMCs) have built-in sensing and actuation capabilities which make them attractive in many biomedical and biological applications. In this paper a physics-based but control-oriented dynamic model is proposed for IPMC actuators. The modeling work starts from the governing partial differential equation (PDE) that describes the charge redistribution dynamics under external electrical field, electrostatic interactions, ionic diffusion, and ionic migration along the thickness direction. It is further extended by incorporating the effect of distributed surface resistance. The electrical impedance model is obtained by deriving the exact solution to the governing PDE in the Laplace domain. By assuming a linear electromechanical coupling, an actuation model which relates bending displacement to voltage input is derived. The model is represented as an infinite-dimensional transfer function, which is amenable to model reduction and real-time control design while capturing fundamental physics. It thus bridges the traditional gap between the physics-based perspective and the system-theoretic perspective on modeling of IPMC materials. The model is expressed in terms of fundamental material parameters and dimensions of the IPMC, and is therefore geometrically scalable. The latter has been further confirmed in experiments.

Citation Download Citation

Zheng Chen and Xiaobo Tan "A scalable dynamic model for ionic polymer-metal composite actuators", Proc. SPIE 6927, Electroactive Polymer Actuators and Devices (EAPAD) 2008, 69270I (10 April 2008); https://doi.org/10.1117/12.776508

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available