Kinematic analysis of electroactive polymer actuators as soft and smart structures with more DoF than inputs

Mutlu, Rahim; Alici, Gürsel; Li, Weihua

doi:10.1109/aim.2012.6265894

Cited by 4 publications

(3 citation statements)

References 22 publications

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“…We employ the soft robotic manipulator approach to model and analyse the bending behaviour of the EAP actuators. In our previous papers [16,17,20], we have demonstrated that the soft robotic manipulator approach can accurately estimate the whole shape bending of the PPy-EAP actuators.…”

Section: Kinematic Analysis Of Eap Actuators As Soft Robotic Manipulamentioning

confidence: 99%

“…As the thrust of this study is on electro-mechanical modelling of the PPy-EAP actuators, the inverse kinematic model of the PPy-EAP actuator is only briefly presented here. The details of the inverse kinematic model can be found in [16,17].…”

Section: Kinematic Analysis Of Eap Actuators As Soft Robotic Manipulamentioning

confidence: 99%

“…Following the configuration estimation of the EAP actuators based on the inverse kinematic model, the electro-mechanical modelling and the dynamic parameter estimation of the EAP actuator are reported. In our previous papers [16,17], the inverse kinematic shape estimation process was explained in detail in which the EAP actuator's bending curvatures were estimated by solving the EAP actuator's hyper-redundant inverse kinematic model employing an optimization-based method (we introduced and referred to that optimization-based inverse kinematic solution as AngleOPT: angle optimization). We experimentally validated the proposed electromechanical model which can be employed for (i) identifying the stiffness and damping parameters of an EAP actuator's soft robotic model and (ii) controlling the EAP actuator's whole shape deflection under an electrical stimulus without requiring any position and/or deflection feedback information.…”

Section: Introductionmentioning

confidence: 99%

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Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

et al. 2014

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Section: Kinematic Analysis Of Eap Actuators As Soft Robotic Manipulamentioning

confidence: 99%

Section: Kinematic Analysis Of Eap Actuators As Soft Robotic Manipulamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

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Polypyrrole Actuator Based on Electrospun Microribbons

Beregoi

Evanghelidis

Diculescu

et al. 2017

ACS Appl. Mater. Interfaces

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The development of soft actuators by using inexpensive raw materials and straightforward fabrication techniques, aiming at creating and developing muscle like micromanipulators, represents an important challenge nowadays. Providing such devices with biomimetic qualities, for example, sensing different external stimuli, adds even more complexity to the task. We developed electroactive polymer-coated microribbons that undergo conformational changes in response to external physical and chemical parameters. These were prepared following three simple steps. During the first step nylon-6/6 microribbons were fabricated by electrospinning. In a second step the microribbons were one side coated with a metallic layer. Finally, a conducting layer of polypyrrole was added by means of electrochemical deposition. Strips of polypyrrole-coated aligned microribbon meshes were tested as actuators responding to current, pH, and temperature. The electrochemical activity of the microstructured actuators was investigated by recording cyclic voltammograms. Chronopontentiograms for specific current, pH, and temperature values were obtained in electrolytes with different compositions. It was shown that, upon variation of the external stimulus, the actuator undergoes conformational changes due to the reduction processes of the polypyrrole layer. The ability of the actuator to hold and release thin wires, and to collect polystyrene microspheres from the bottom of the electrochemical cell, was also investigated.

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Electroactive polymers as soft robotic actuators: Electromechanical modeling and identification

Mutlu

Alici

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Biologically inspired robotic applications have recently received significant attention due to developments in novel materials and actuators with an operation principle similar to the natural muscles' . Electroactive polymer (EAP) actuators, also known as artificial muscles, possess extraordinary properties such as low efficiency consumption, compliance, bio-compatibility and ability to be miniaturized. Although several methodologies have been proposed for modeling and identification of their quasi-static bending behavior, a negligibly small attention has been given to their dynamic behavior. In this paper, we, therefore, report on their electromechanical modeling and parameter identification. We model the tri-layer EAP actuators as a soft robotic actuator consisting of a significant number of rigid links connected with compliant revolute joints. The experimental and numerical results presented suggest that the soft robotics approach is an effective way to model the EAP actuator and subsequently identify its dynamic parameters accurately. We have previously employed the same soft robotic approach to estimate the whole shape of the EAP actuator as a function of time. This conference paper is available at Research Online: http://ro.uow.edu.au/eispapers/1258  Abstract-Biologically inspired robotic applications have recently received significant attention due to developments in novel materials and actuators with an operation principle similar to their natural counterparts, i.e. muscles. Electroactive polymer (EAP) actuators, also known as artificial muscles, possess extraordinary properties such as low efficiency consumption, compliance, bio-compatibility and ability to be miniaturized. Although several methodologies have been proposed for modeling and identification of their quasi-static bending behavior, a negligibly small attention has been given to their dynamic behavior. In this paper, we, therefore, report on their electromechanical modeling and parameter identification. We model the tri-layer EAP actuators as a soft robotic actuator consisting of a significant number of rigid links connected with compliant revolute joints. The experimental and numerical results presented suggest that the soft robotics approach is an effective way to model the EAP actuator and subsequently identify its dynamic parameters accurately. We have previously employed the same soft robotic approach to estimate the whole shape of the EAP actuator as a function of time.

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Kinematic analysis of electroactive polymer actuators as soft and smart structures with more DoF than inputs

Cited by 4 publications

References 22 publications

Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

Polypyrrole Actuator Based on Electrospun Microribbons

Electroactive polymers as soft robotic actuators: Electromechanical modeling and identification

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