Mechatronics 2013
DOI: 10.1002/9781118614549.ch2
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Modeling and Control of Ionic Polymer–Metal Composite Actuators for Mechatronics Applications

Abstract: This chapter presents the full design process through to the implementation of two innovative mechatronic devices: a stepper motor and a robotic rotary joint both with integrated soft IPMC actuators. Firstly, electromechanical modeling of the IPMC actuation response is presented. This model is then used as a tool for the mechanical design of the devices. Novel implementation of control systems to adaptively handle the highly nonlinear and time-varying response of the IPMCs and achieve successful device perform… Show more

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