Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with Patterned Artificial Muscle

Smart systems adapt to the surrounding environments in a number of ways. They are capable to scavenge energy from available sources, sense and elaborate external stimuli and adequately react. Electro Active Polymers are playing a main role in the realization of smart systems for applications if fields such as bio inspired and autonomous robotics, medicine, and aerospace. This paper focus on the possibility to use Ionic Polymer Metal Composites as a class of materials relevant to the realization of post silicon smart systems. The three main aspects of this new technology, i.e., fabrication methods, modeling, and applications are described with emphasis to most recent results. Attention is given to main challenges and shortcomings to be solved for technology, modelling, and control of IPMC based devices that need to be solved before this new technology can be fully exploited in real world applications.

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“…154. It was obtained from one IPMC realization by means of laser cuts which allow electrical insulation between segments.…”

Section: Roboticsmentioning

confidence: 99%

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

Luca

Digiamberardino

Pasquale

et al. 2013

J Polym Sci B Polym Phys

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“…The curve of bending displacement d vs. time under the control signal (5V, 1Hz) is shown in Fig.11. According to the value of d, we can easily deduce and calculate the coordinate of 3 P by using the equation (12) and (13). Through analysis of the single leg, we define the eight states of the upper extremity from 'a' to 'h' and define the eight states of the lower extremity from '1' to '8', as shown in Fig.12.…”

Section: B Experiments Of Single Legmentioning

confidence: 99%

“…A novel type of underwater microrobot utilizing just two segments of ICPF (Ionic Conducting Polymer Film) actuators shows that its crawling method has a good performance on rough surface [11]. ICPF actuator is also used for biped walking underwater robot and multi-DOF manipulator [12] [13]. Inspired by walruses, a kind of microrobot using ICPF actuators have been designed and the speeds of the microrobot have been measured with two methods [14].…”

Section: Introductionmentioning

confidence: 99%

A Novel Underwater Crablike Microrobot

Ye¹,

Gao²,

Guo

et al. 2006

2006 International Conference on Mechatronics and Automation

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In this paper, we presents a novel crablike underwater microrobot named crabliker-1. The designed microrobot has eight legs, and each leg is made up of two pieces of ICPF (Ionic Conducting Polymer Film). A new analysis method to the gait of the microrobot is proposed. Based on this method, three processes of single leg's movement under different control signals are proposed. The structure and motion mechanism are given. The kinematics of single leg is discussed. And then, we set up the experimental platform to analyze the characteristics of the ICPF Actuator. At last, the rightwards movement and circumvolve anticlockwise of the microrobot's gait are carried out.

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“…This remote wireless link could be a breakthrough in effective remote motion control that can adapt to a variety of unstructured environmental conditions. Although the IPMC actuator has a strong potential to be the next-generation artificial muscle actuator, it has been observed by many researchers that wiring the power line to a respective electrode surface is challenging, especially during micro-scale actuation and multi-segmented or patterned design [7][8][9][10]. There are many robotic applications where tethered operation is prohibited, and a battery weight can be a major obstacle for actual implementation of the robots [11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Wireless actuation and control of ionic polymer–metal composite actuator using a microwave link

Lee

Yim

Bae

et al. 2012

International Journal of Smart and Nano Materials

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The ionic polymer-metal composite (IPMC), a type of electroactive polymer (EAP) actuator, has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage. Although this polymer actuator has strong potential for a next-generation artificial muscle actuator, it has been observed by many researchers that supplying actuation voltages in multiple locations is challenging. In robotic applications, a tethered operation is prohibited and the battery weight can be critical for actual implementation. In this research, the remote unit can provide necessary power and control signals to the target mobile robot units actuated by IPMCs. This research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the power. Frequency modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is located. This approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.Keywords: ionic polymer-metal composite actuator; microwave link; wireless actuation; robotic application; biomimetic robot IntroductionRecent advances in artificial muscle actuators based on electroactive polymers (EAPs) have created a unique opportunity to accommodate greater flexibility and more degrees of freedom to design biologically-inspired robots. The unique properties of biological muscle are large strain, moderate stress, fast speed, good efficiency and long cycle life. A new technology based on polymer science and engineering has enabled EAP to simulate these properties and functions. An ionic polymer-metal composite (IPMC) has demonstrated many new capabilities in robotic actuation technology due to its low-voltage requirement, relatively large deformation and shape-changing capabilities. In particular, the IPMC can be fabricated in various shapes and sizes; with proper intelligent and biomimetic shape-changing control schemes, such as polymeric actuators, the IPMC can offer clear advantages in developing an intelligent biomimetic robotic system over the traditional electromechanical actuators.

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Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with Patterned Artificial Muscle

Cited by 43 publications

References 4 publications

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

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

A Novel Underwater Crablike Microrobot

Wireless actuation and control of ionic polymer–metal composite actuator using a microwave link

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