A Dynamic Electromechanical Model for Electrochemically Driven Conducting Polymer Actuators

Shoa, Tina; Yoo, Dan Sik; Walus, Konrad; Madden, John D. W.

doi:10.1109/tmech.2010.2090166

Cited by 43 publications

(33 citation statements)

References 42 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Therefore, in the equivalent electrical circuit, this interface consists of a double layer capacitance ( ) in series with a diffusion impedance ( ). The electronic resistance of each element of the PPy layer and the PVDF membrane are respectively denoted by = 1/ ℎ ( is the ionic conductivity of the PPy layer), and = 2ℎ / ( is the electrolyte conductivity) [10]. The impedance element of the sensor can be considered as a charge generator in which a variable load resistor ( ) is in parallel with the two aforementioned electrical elements.…”

Section: Description Of the Mathematical Modeling Approachmentioning

confidence: 99%

Transmission line circuit model of a PPy based trilayer mechanical sensor

2015

View full text Add to dashboard Cite

Many efforts have been devoted to modeling the diffusive impedance of conjugated polymer (CP) based actuators using their equivalent electrical circuits. Employing the same methodology, CP based mechanical sensors can also be treated by an equivalent transmission line circuit and their overall impedance can be modeled, correspondingly. Due to the large number of resources to study the electrical circuits, this technique is a practical tool. Therefore, in this study, an equivalent RC-circuit model including electrochemical parameters is determined to obtain a better perception of the sensing mechanism of these mechanical sensors. Conjugated polymers are capable of generating an output current or voltage upon an induced mechanical deformation or force. This observed behavior in polymer based mechanical sensors is considered as the reverse actuation process. Many outstanding properties of the conjugated polymer actuators including their light weight and biocompatibility are still retained by these sensors. Sensors with a trilayer configuration are capable of operating in air in response to a mechanically induced bending deformation. However, due to their nonlinear behavior and multivariable characteristics, it is required to propose a systematic approach in order to optimize their performance and gain the optimal values of their constituent decision variable. Therefore, the proposed mathematical model is used to define the output voltage of the PPy based mechanical sensor along with the sensitivity of the model to the applied frequency of the induced deformation. Applying a multiobjective optimization algorithm, the optimization problem was solved and the tracking ability of the proposed model was then verified.

show abstract

Section: Description Of the Mathematical Modeling Approachmentioning

confidence: 99%

Transmission line circuit model of a PPy based trilayer mechanical sensor

2015

View full text Add to dashboard Cite

show abstract

“…The authors wish to gratefully acknowledge the help of Dr. Madeleine Strong Cincotta in the final language editing of this paper. 10. References…”

Section: Acknowledgementsmentioning

confidence: 99%

“…These methods have focused on i) establishing a feedback control system using position data provided by an external sensor or sensors and ii) establishing inversion-based feedforward control approaches without using externally provided feedback data [7][8][9][10][11][12][13][14][15]. Compared to a conducting polymer actuator, the sensor used in the first approach is extremely large, which limits the CPAs' application and brings extra complexity and cost.…”

Section: Introductionmentioning

confidence: 99%

How the type of input function affects the dynamic response of conducting polymer actuators

Xiang¹,

Alici²,

Mutlu³

et al. 2014

Smart Mater. Struct.

View full text Add to dashboard Cite

There has been a growing interest in smart actuators typified by conducting polymer actuators, especially in their (i) fabrication, modeling and control with minimum external data and (ii) applications in bio-inspired devices, robotics and mechatronics. Their control is a challenging research problem due to the complex and nonlinear properties of these actuators, which cannot be predicted accurately. Based on an input-shaping technique, we propose a new method to improve the conducting polymer actuators' command-following ability, while minimizing their electric power consumption. We applied four input functions with smooth characteristics to a trilayer conducting polymer actuator to experimentally evaluate its command-following ability under an open-loop control strategy and a simulated feedback control strategy, and, more importantly, to quantify how the type of input function affects the dynamic response of this class of actuators. We have found that the four smooth inputs consume less electrical power than sharp inputs such as a step input with discontinuous higher-order derivatives. We also obtained an improved transient response performance from the smooth inputs, especially under the simulated feedback control strategy, which we have proposed previously [X Xiang, R Mutlu, G Alici, and W Li, 2014 "Control of conducting polymer actuators without physical feedback: simulated feedback control approach with particle swarm optimization', Journal of Smart Materials and Structure, 23]. The idea of using a smooth input command, which results in lower power consumption and better control performance, can be extended to other smart actuators. Consuming less electrical energy or power will have a direct effect on enhancing the operational life of these actuators. (ii) applications in bio-inspired devices, robotics and mechatronics. Their control is a challenging research problem due to the complex and nonlinear properties of these actuators which cannot be predicted accurately. Based on an input shaping technique, we propose a new method to improve the conducting polymer actuators' command following ability, while minimizing their electric power consumption. We applied four input functions with smooth characteristics to a tri-layer conducting polymer actuator to experimentally evaluate its command following ability under an open-loop control strategy and a simulated feedback control strategy, and more importantly to quantify how the type of the input functions affects the dynamic response of this class of actuators. We have found that the four smooth inputs consume less electrical power than sharp inputs such as a step input with discontinuous higher order derivatives. We also obtained an improved transient response performance from the smooth inputs, especially under the simulated feedback control strategy, which we have proposed previously [13]. The idea of using a smooth input command, which results in lower power consumption and better control performance, can be extended to other smart actuators. Consumi...

show abstract

“…Also, Fang et al (Fang et al 2008;Yang et al 2008) developed a scalable model (valid for different sizes of the actuator) including dynamic actuation performance under a given voltage input, joining three different modules that model three different aspects of the actuator: electrochemical dynamics, stress-generation relating transferred charges to internal actuation stress and mechanical dynamics. Finally, Shoa et al (Shoa et al 2011) developed a dynamic electromechanical model for electrochemically driven conducting polymer actuators based on a 2-D impedance model using an RC transmission line equivalent circuit to predict the charge transfer during actuation. Besides, a mechanical model (based on the bending beam model) is considered after the equivalent circuit that simulates ion "diffusion" through the thickness and electronic resistance along the length.…”

Section: Equivalent Transmission Line Modelmentioning

confidence: 99%