Free-Locomotion of Underwater Vehicles Actuated by Ionic Polymer Metal Composites

Aureli, Matteo; Kopman, Vladislav; Porfiri, Maurizio

doi:10.1109/tmech.2009.2030887

Cited by 280 publications

(199 citation statements)

References 55 publications

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“…This implies that the composite layer is simultaneously wider than the Debye screening length and narrower than the ionomer core, so that the chemolectrical behavior is therein affected by both faradaic and mass transport effects. The dimensionless forms of the PNP system in (8) and (9) are…”

Section: E Nondimensional Equationsmentioning

confidence: 99%

“…Ionic polymer metal composites (IPMCs) are a novel class of electroactive materials which find application as sensors [1][2][3][4][5], actuators [6][7][8][9][10][11], and energy harvesters [12][13][14][15][16][17][18]. In their fundamental incarnation, IPMCs consist of an electrically charged polymer (ionomeric) membrane that is infused with a solvent, neutralized by mobile counterions, and plated by noble metal electrodes [19].…”

Section: Introductionmentioning

confidence: 99%

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Bias-dependent model of the electrical impedance of ionic polymer-metal composites

Cha

Porfiri

2013

Phys. Rev. E

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In this paper, we analyze the charge dynamics of ionic polymer metal composites (IPMCs) in response to voltage inputs composed of a large DC bias and a small superimposed time-varying voltage. The IPMC chemoelectrical behavior is described through the modified Poisson-NernstPlanck framework, in which steric effects are taken into consideration. The physics of charge build up and mass transfer in the proximity of the high surface electrodes is modeled by schematizing the IPMC as the stacked sequence of five layers, in which the ionomeric membrane is separated from the metal electrodes by two composite layers. The method of matched asymptotic expansions is used to derive a semianalytical solution for the concentration of mobile counterions and the electric potential in the IPMC, which is, in turn, used to establish an equivalent circuit model for the IPMC electrical response. The circuit model consists of the series connection of a resistor and two complex elements, each constituted by the parallel connection of a capacitor and a Warburg impedance. The resistor is associated with ion transport in the ionomeric membrane and is independent of the DC bias. The capacitors and the Warburg impedance idealize charge build up and mass transfer in the vicinity of the electrodes and their value is controlled by the DC bias. The proposed approach is validated against experimental results on in-house fabricated IPMCs and the accuracy of the equivalent circuit is assessed through comparison with finite element results.

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Section: E Nondimensional Equationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bias-dependent model of the electrical impedance of ionic polymer-metal composites

Cha

Porfiri

2013

Phys. Rev. E

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“…Another biomimetic jellyfish robot was developed using IPMC actuators to implement jet propulsion (Yeom and Oh 2009). A lamprey-based undulatory vehicle (Wilbur et al 2002), a free-swimming robotic batoid ray based on IPMC actuators (Chen et al 2011), and a miniature fish-like robotic swimmer induced by propulsion generated by tail vibrations (Aureli et al 2010) were presented. More recently, a swimming robotic fish was demonstrated that was developed with electromagnetic actuation system and 3D printing (Phamduy et al 2017).…”

Section: Introductionmentioning

confidence: 99%

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

Almubarak

Tadesse

2017

Int J Intell Robot Appl

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Researchers are seeking to create robots that could conform to non-uniform objects during handling and manipulation. High performance artificial muscles are the key factors that determine the capabilities of a robot. Twisted and coiled polymeric (TCP) muscle embedded in soft silicone skin solves some of the problems of soft robots in attaining morphed structure using low voltages, contrary to other technologies such as dielectric elastomer and piezoelectric. Furthermore, the TCP actuation system does not generate noise like pneumatic systems. The TCP embedded skin shows great promise for robotics to mimic the flexible appendages of certain animals. In this paper, we present experimental results on the effect of muscle placement and the thickness of the artificial skin on the actuation behavior, which can be used as a benchmark for modeling. We demonstrate the effect of three different skin thicknesses and three different muscle locations within the skin, by taking experimental deformation data from stereo camera. In general, two modes of actuations (undulatory and bending) were observed depending on the muscle placement, skin thickness, applied voltage, and actuation time. The thinner skin showed two-wave undulatory actuation in most cases, whereas the 4 mm skins showed mixed actuation and the 5 mm skins exhibited one-wave undulatory actuation. In all cases, the increase in voltage resulted in higher magnitudes of actuation. In addition, we showed consistent strain of the TCP muscles from 18 samples from two batches that produced an average strain of 22% (batch 1) to 20% (batch 2) with standard deviation of 2.5-1.8% respectively.

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“…Jellyfish have inspired many researchers to use IPMCs for various biomimetic applications (Yeom and Oh 2009;Guo et al 2007; Akle et al 2011;Najem et al 2012). Aureli et al designed a fish-like robot that uses an IPMC for the tail (Aureli et al 2010), while Aftab et al create a three linkage system using an IPMC to actuate the fin on their fish-like robot (Ul Haq et al 2015). Chen et al used a lithography-based approach to develop an IPMC-based biomimetic fin that is capable of complex deformation .…”

Section: Introductionmentioning

confidence: 99%

“…Herein, the authors present a method of design and study of generating the flying-fish-like travelling wave motion using soft-robotic actuators, specifically ionic polymer-metal composites (IPMCs), which were selected due to their aptitude for operating in an aqueous environment, large bending displacement, and low power requirements. Additionally, IPMC have been used successfully in underwater biomimetic actuators and vehicles (Chen et al , 2012Kim et al 2011;Palmre et al 2013;Yeom and Oh 2009;Guo et al 2007;Akle et al 2011;Najem et al 2012;Aureli et al 2010). The results are presented along with discussion and a plan for future work.…”

Section: Introductionmentioning

confidence: 99%

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

Stalbaum

Hwang

Trabia

et al. 2017

Int J Intell Robot Appl

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Biology inspired inventions have been of great interest to the researcher and engineer. Biomimicry offers special insight into nature's methods of motion control, with significance in thrust and drag control for swimming and flying lifeforms. An array of actuators designed in an artificial wing could be used to control aerodynamic effects to adjust drag or lift according to given wind conditions for improved flight, or to control stability prior to touchdown for a smooth landing, providing an additional means of aerodynamic stability control. In this study, a method of generating a travelling wave motion in attempt to mimic that observed in the wings of flying-fish (Exocoetidae) during descent are presented. Ionic polymer-metal composite actuators were arranged in an array and oscillated in a travelling wave motion. The arrays were held rigid between glass slides and embedded into a flexible substrate to create the soft ''wing'' surface for free-end displacement measurements. Using a microcontroller and motor drivers, a controllable travelling wave motion was created. Additionally, an array of actuators was connected to a 3D printed wing skeleton based on the dimensions of a fourwing flying-fish like structure. The results indicate the travelling wave motion can be controlled with ionic polymer-metal composite actuators as arranged in several configurations. This offers an experimental platform for further study of the aerodynamic effects of a travelling wave across a wing during flight.

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Free-Locomotion of Underwater Vehicles Actuated by Ionic Polymer Metal Composites

Cited by 280 publications

References 55 publications

Bias-dependent model of the electrical impedance of ionic polymer-metal composites

Bias-dependent model of the electrical impedance of ionic polymer-metal composites

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

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

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