A model of ionic polymer–metal composite actuators in underwater operations

Abstract

Ionic polymer metal composites (IPMCs) are active materials that exhibit a bi-directional electromechanical coupling: a voltage produces membrane bending, while by bending an IPMC membrane a voltage output is obtained.IPMCs are of increasing interest in a number of application fields. More specifically, IPMCs can work in wet environments, even in water, and this represents a valuable capability in a number of applications fields such as underwater robotics, surveillance, and biomedical applications.In this work a totally new model of an active IPMC beam, solicited by a voltage signal and immersed in water, is introduced. The model estimates the moment produced by the applied voltage. Therefore, the classical Euler-Bernoulli cantilever beam theory and the concept of hydrodynamic function are used to describe the interaction between the beam and the water. Knowledge of this interaction allows estimation of the IPMC active beam motion in water.

Bioinspired travelling wave generation in soft-robotics using ionic polymer-metal composites

“…Adjustments can be made to the model to include damping, and one would expect the results to be in better agreement through the range of frequencies tested herein. Several studies have focused on modeling motion of an IPMC in underwater conditions to include drag and viscous effects (Brunetto et al 2008;Facci and Porfiri 2013), or of a similar shaped cantilever beam without the IPMC physics considered (Aureli et al 2012) where there are large viscous effects; however, in the current work the primary interest was in characterizing a range of frequency for operation of an artificial flying-fish, hence a simplified model was utilized. Additionally, it is important to consider added mass effects in case of a body accelerating through a fluid, which is due to the increase in kinetic energy of the fluid imparted by the solid body as it translates through the fluid, and is a function of the shape of the body.…”

A review on IPMC material as actuators and sensors: Fabrications, characteristics and applications

“…In the past decade, several authors have focused their attention on the electromechanical transduction properties of IPMCs and models, increasing the number of scientific publications. 31,36,[53][54][55][56][57][58][59][60][61][62][63][64][65][66][67][68][69][70][71][72] However, the credit for the first paper in this regard goes to Sadeghipour et al 9 where they described the Nafion® based IPMC as 'smart material'. And stated that the 'smartness' of the Nafion® is based on electrochemical effects.…”

Ionic electroactive polymer metal composites: Fabricating, modeling, and applications of postsilicon smart devices

“…More specifically, in Ref. 127 the frequency response of a cantilevered IPMC actuator for a number of fluids relevant to envisaged applications (e.g. sea water and blood were considered) was investigated.…”