Sectored-electrode IPMC actuator for bending and twisting motion

Robert O. Riddle; Youngsoo Jung; Sang-Mun Kim; Sisi Song; Benjamin Stolpman; Kwang J. Kim; Kam K. Leang

doi:10.1117/12.848003

9 April 2010 Sectored-electrode IPMC actuator for bending and twisting motion

Robert O. Riddle, Youngsoo Jung, Sang-Mun Kim, Sisi Song, Benjamin Stolpman, Kwang J. Kim, Kam K. Leang

Proceedings Volume 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010; 764221 (2010) https://doi.org/10.1117/12.848003
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2010, San Diego, California, United States

Abstract

The development of ionic polymer-metal composite (IPMC) actuators with sectored electrodes for bending and twisting motion is discussed. The application of such IPMCs include highly-dexterous and efficient biorobotic systems and biomedical devices (e.g. , active catheters). The sectored-electrode pattern on the IPMC actuator is created using two techniques: masking and surface machining. The bending and twisting performance of a prototype actuator is evaluated and compared to a finite-element model. Experimental results demonstrate twisting angle exceeding 7 degrees for an IPMC actuator with four pairs of electrodes having dimensions 50 mm×25 mm×0.23 mm. Technical design challenges and performance limitations are also discussed.

Citation Download Citation

Robert O. Riddle, Youngsoo Jung, Sang-Mun Kim, Sisi Song, Benjamin Stolpman, Kwang J. Kim, and Kam K. Leang "Sectored-electrode IPMC actuator for bending and twisting motion", Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 764221 (9 April 2010); https://doi.org/10.1117/12.848003

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