An iteratively optimized resolution to hyper redundancy for dissimilarly doped compliant IPMC actuators

Chattaraj, Ritwik; Khan, Siladitya; Dasgupta, Aritra; Gare, Gautam Rajendrakumar; Chatterjee, Debabrata; Bhaumik, Subhasis

doi:10.1016/j.mechatronics.2017.08.004

Cited by 2 publications

(2 citation statements)

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“…order to propose a robust deterministic model that can control the performance of a reliable actuator, Chattaraj et al [93] modeled IPMCs as multisegment chains connected to a rigid body (Figure 7c) and adopted an inverse kinematics solver based on circular coordinate descending to minimize the objective function in joint space through step-by-step iterative steps to solve the redundancy problem.…”

Section: Multi-segment Modelsmentioning

confidence: 99%

“…[ 89 ] Other studies also adopted the thought of multisegment, decomposed an IPMC actuator into 20‐link hyper‐redundant serial manipulator, and solved the problem of IPMC's hyper‐redundancy based on a new inverse kinematics method. [ 92 ] In order to propose a robust deterministic model that can control the performance of a reliable actuator, Chattaraj et al [ 93 ] modeled IPMCs as multisegment chains connected to a rigid body (Figure 7c) and adopted an inverse kinematics solver based on circular coordinate descending to minimize the objective function in joint space through step‐by‐step iterative steps to solve the redundancy problem.…”

Section: Partial‐physical Modelsmentioning

confidence: 99%

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Application‐Oriented Modeling of Soft Actuator Ionic Polymer–Metal Composites: A Review

Jiang,

Lin,

et al. 2023

Advanced Intelligent Systems

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Compared to conventional actuators, the soft ionic polymer–metal composite (IPMC) actuator has significant advantages in specific applications, and the mathematical model of IPMC actuators is essential to comprehending and applying IPMCs. Due to the inherent characteristics of IPMCs and the impact of the manufacturing and measurement processes, it is challenging to developa reliable model. This article provides a comprehensive overview of the developments in IPMC actuator modeling. In particular, three types of models are examined and contrasted: the nonphysical identification model, the partial‐physical model, and the physical‐based model. In order to comprehend the current state of numerous IPMC actuator models, the characteristics, evolution, and functions of each type of model are discussed. Afterward, the evolution of the IPMC actuators’ applications is discussed. Finally, promising research directions for IPMC actuator models are identified that can more effectively facilitate the development of IPMC‐based devices.

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Section: Multi-segment Modelsmentioning

confidence: 99%