Integrated IPMC/PVDF sensory actuator and its validation in feedback control

被引：81

作者：

Chen, Zheng ^{[1
]}

Kwon, Ki-Yong ^{[1
]}

Tan, Xiaobo ^{[1
,2
]}

机构：

[1] Michigan State Univ, Dept Elect & Comp Engn, Smart Microsyst Lab, E Lansing, MI 48824 USA

[2] Univ Maryland, Syst Res Inst, College Pk, MD 20742 USA

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2008年 / 144卷 / 02期

基金：

美国国家科学基金会;

关键词：

ionic polymer-metal composite (IPMC); polyvinylidene fluoride (PVDF); sensory actuator; integrated sensory feedback;

D O I：

10.1016/j.sna.2008.01.023

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Position and/or force feedback is critical in ensuring precise and safe operation of ionic polymer-metal composite (IPMC) actuators in bio/micromanipulation. In this paper the design of an integrated sensory actuator is presented, where polyvinylidene fluoride (PVDF) films are used to provide simultaneous feedback of bending and force outputs of the IPMC actuator. The design adopts differential configurations for sensing, which eliminates corruption of sensing signals by feedthrough of actuation signal or by thermal drift. Experimental results are presented to demonstrate closed-loop control of IPMC bending output based upon the integrated PVDF sensor, together with simultaneous tip force measurement with mu N resolution. (C) 2008 Elsevier B.V. All rights reserved.

引用

页码：231 / 241

页数：11

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