Abstract
This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC) actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment improves the electrical controllability of bending in Selemion CMV-based IPMCs. We tried to replicate this controllability in Nafion-based IPMC. We found that the displacement of a Nafion-based IPMC was proportional to the total charge imposed, just as in the Selemion-CMV case. This property is the basis of self-sensing controllers for Nafion-based IPMC bending behavior: we perform bending curvature experiments on Nafion-based IPMCs, obtaining the actuator's dynamics and transfer function. From these, we implemented self-sensing controllers using feedforward, feedback and two-degree-of-freedom techniques. All three controllers performed very well with the Nafion-based IPMC actuator.
Highlights
Ionic Polymer-Metal Composite (IPMC) is a bending mode electroactive polymer actuator
Despite the observation of unpredictably complex bending behavior of highly hydrated IPMC [10], we found that the transfer function of dehydrated Nafion
All three control systems were tested in turn by implementing them in Simulink and using the output to drive an s-BOX (MTT, Tokyo) DSP connected to a Nafion IPMC
Summary
Ionic Polymer-Metal Composite (IPMC) is a bending mode electroactive polymer actuator. The bending curvature of the dehydrated Selemion IPMC is proportional to the total charge imposed on it. Nafion-based IPMC (hereafter called Nafion IPMC) and investigated its bending controllability in the dehydrated state. We carried out further investigation and found the bending controllability of Nafion-based IPMC improved in the extremely low absolute humidity environment. We observed the linear relationship between the Nafion IPMC bending curvature and the quantity of charge imposed on it like Selemion IPMC. This experimental result indicated that the bending controllability of Nafion-IPMC could be significantly improved in the extremely low humidity environment.
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