Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control

Kentaro Takagi; Suguru Hirayama; Shigenori Sano; Naoki Uchiyama; Kinji Asaka

doi:10.1117/12.915161

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3 April 2012 Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control

Kentaro Takagi, Suguru Hirayama, Shigenori Sano, Naoki Uchiyama, Kinji Asaka

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Proceedings Volume 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012; 83402J (2012) https://doi.org/10.1117/12.915161
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

In practical applications, stress-relaxation phenomenon is not preferable feature of IPMC (ionic polymer-metal composite) actuators. In this study, we propose a control method using two (or more) IPMCs in order to reduce the stress-relaxation phenomenon. In the experiment, the force generated by two IPMC strips is measured by a force sensor. The proposed control signal consists of a small fluctuating signal which is oscillating independently of the command, in addition to a simple feedback controller with a feedforward term. We have found that the time to reach the limit voltage became more than twice if the fluctuating signal was added.

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Kentaro Takagi, Suguru Hirayama, Shigenori Sano, Naoki Uchiyama, and Kinji Asaka "Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control", Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83402J (3 April 2012); https://doi.org/10.1117/12.915161

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