Quasi-Static Tip Positioning of Multi-Segmented IPMC for Micro-Manipulation following Euler-Bernoulli and Pseudo-Rigid Body Model

被引：10

作者：

Bandopadhya, Dibakar ^{[1
]}

机构：

[1] Indian Inst Technol, Dept Mech Engn, Gauhati 781039, India

来源：

JOURNAL OF REINFORCED PLASTICS AND COMPOSITES | 2009年 / 28卷 / 06期

关键词：

electro-active polymer; ionic polymer metal composite; pseudo-rigid body model; micro-manipulation; POLYMER-METAL COMPOSITES; ARTIFICIAL MUSCLES; BIOMIMETIC SENSORS; ACTUATORS; GELS;

D O I：

10.1177/0731684407086998

中图分类号：

TB33 [复合材料];

学科分类号：

摘要：

In this article a kinematic model of multi-segmented ionic polymer metal composite (IPMC) patches has been proposed for micro-manipulation under moisture conditions. Pseudo-rigid body modeling and Euler-Bernoulli approach has been followed to get the end-tip position of the segmented patches. Kinematic modeling is carried out after constituting the homogeneous coordinate transformation considering it as a serial link multi-DOF manipulator. The motion of patches is restricted as planar in 2D. Simulation has been undertaken for single and two patches of IPMC to demonstrate the tip positioning of the segmented IPMC patches for different sequences of input voltage. The experiment is conducted for a single segment of IPMC to validate simulation results. It is observed that experimental results match the simulation results precisely.

引用

页码：743 / 764

页数：22

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