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- 주제어 : IPMC(이온성 고분자 금속 복합체) (검색결과 8 건)
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조임력이 이온성 고분자-금속 복합체 작동기의 작동성능에 미치는 영향 연구
정진영(Jin-young Jung),오일권(Il-Kwon Oh) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
The mechanical and electrical effects of clamping force on the performance of the ionic polymer-metal composite (IPMC) actuators has been investigated experimentally in this study. The electrode contacts are appeared at the interface between IPMC and clamping device. During the clamping process, the actuator stiffness and contact resistance are changed. In particular, the dynamic responses of the IPMC actuator highly depend on many parameters such as topology of the surface, elastic modulus, thickness, humidity, and clamping force, etc. The present experimental results show that the contact resistance and mechanical stiffness of contact region strongly influence the actuation performance due to clamping process of very soft polymer membrane in the IPMC actuators. An exact electro-mechanical model is developed for fully describing the actuation performance by considering structural damping, hydrodynamic loading and electrical force. This study shows that there exists an critical clamping force to obtain the best performance of the IPMC actuator.
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한대웅(Daewoong Han),이승엽(Seung-Yop Lee) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
IPMC(Ionic Polymer-Metal Comosite) exhibits large deformation, having great attention in many application fields. It generates bending moment by ion exchange polymer film. It can be quickly bended by the applied voltage across the plated electrode of the polymer film. In the present paper, we derive the theoretical modeling and dynamic analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. The theoretical model of a cantilever IPMC actuator estimates the moment produced by the applied voltage. The dynamic characteristics, including natural frequencies and frequency response, are calculated by the theoretical model, and they are compared with the experimental results and finite element analysis. It is shown that the mathematical modeling allows precise estimation to the voltage-driven motion of the cantilever IPMC in air.
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생체모방 유영 로봇을 위한 다자유도 IPMC 모듈형 작동기
전진한(Jeon Jin Han),오일권(Oh Il Kwon) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
The multiple DOF IPMC modular actuators with selectively grown multiple electrodes were developed to mimic the swimming locomotion of a fish. These were fabricated by combining electro less plating and electroplating techniques capable of patterning the electrodes precisely. The advantages of this fabrication method are that the initial compositing between the polymer and platinum particles can be assured by the chemical reduction method, and the thickness of each electrode can be controlled easily and rapidly by electroplating which could be a method to tailor the stiffness and flexibility of the IPMC. By using the fabricated actuator with the multiple degree of freedom, the oscillatory wave of the flexible membrane modular actuator was generated and a twisting motion was also realized 10 verify the possibility of generating the fish-like motion. Present results show that the multiple DOF IPMC modular actuators can be used to implement the bio-mimetic swimming robot.
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신경 진동자와 IPMC 구동기를 결합한 생체 모방형 시스템
양우성(Woosung Yang),최수호(Suho Choi),이승엽(Seung-Yop Lee) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
We propose a control scheme of the IPMC actuator exploiting neural oscillators to achieve biologically inspired motion generation and control. In general, humans or animals show novel adaptive behaviors regardless of their kinematic configurations against unexpected disturbances or environmental changes. This is because that the entrainment property of the neural oscillator plays a key role to adapt their nervous system to the natural frequency of the interacted environments. Thus we apply the biomimetic approach to a novel control of the IPMC actuator, since the IPMC has many difficulties in control such as nonlinearities, flexibility, and unexpected motion, etc. In order to demonstrate the excellence of its entrainment, we implement experimentally the proposed control approach to the IPMC actuator. The coupled IPMC actuator successfully exhibits the motion excited by the neural oscillator. Experimental results confirm biologically inspired, selfadaptive behaviors that enable the IPMC actuator to make adaptive changes corresponding to unexpected disturbances in phase.
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한동균(Dong Gyun Han),송대석(Dae Seok Song),조재영(Jae Young Jho),김동민(Dong Min Kim) Korean Society for Precision Engineering 2015 한국정밀공학회지 Vol.32 No.10
This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.
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김선기(Seongi Kim),김온아(On-Ah Kim),이승엽(Seung-Yop Lee) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
Ionic polymer metal composite (IPMC), one of Electro-Active Polymer(EAP) actuators, has great attention due to the low-voltage driven, large deformation and its potential for artificial muscles. In this paper, we firstly review fish swimming modes using various propulsion mechanisms. Based on study on the swimming mechanisms, we develop an underwater robot actuator which mimics fanning motion of webfoot form. It consists of four actuators fabricated by using IPMC and PDMS which mimics Bio-inspired motion. Experiments using a prototype show that the webfooted IPMC actuator generates large deformation and propulsion.
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