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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 15

Tham khảo tài liệu 'electroactive polymers for robotic applications - kim & tadokoro (eds.) part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 274 W. Yim K. J. Kim Now the complete equations of motion for the segmented IPMC actuator can be written as MỀ E K Bu BBZ e- e e e e u Z AZ BV z v 10.32 Defining the state vector x ệe ệe Z T then the state variable representation of the system becomes x f x g x V 10.33 where f x g x _1 - M E 0 0 B v _ e K m 1 bbz e e e u AZ z Equation 10.33 can be used for designing control laws for the segmented IPMC strip for various applications. Note that extra state variables must be defined for the viscoelastic property of the IPMC expressed as E or h s in Eq. 10.26 for the state variable of Eq. 10.33 . 10.4 Computer Simulation Computer simulation was performed for Eq. 10.33 for n 3 for different magnitudes of input voltage in each element. Table 10.1 shows the simulation and material parameters used in this computational study. Figures 10.6 and and 10.7 show the large deflection simulation of the segmented IPMC for the step input voltage of V 3 3 3 Tvolt and V -3 2 3 T respectively. In this simulation the viscoelastic property of the IPMC is ignored i.e. E E or h s 0. Dynamic Modeling of Segmented IPMC Actuator 275 Table 10.1. Simulation and material parameters R1 160 ữ A length of IPMC 0.05 m R2 700 ữ b width of IPMC 0.01 m C 1.0E-3F Eb modulus for Nafion 5E7 Pa T1 R1C 0.16 s Ep modulus for electrode Pt 144E9 Pa 2 10 s hb thickness of Nafion 0.00028 m Pp density of electrode Pt 21500 kg m3 hp thickness of electrode 0.000002 m pb density of Nafion 2600 kg m3 Figure 10.6. Deflection of IPMC under V 3 3 3 r Volt 276 W. Yim K. J. Kim x m Figure 10.7. Deflection of IPMC under V -3 2 3f Volt 10.5 Conclusions In this study we described the analytical framework for deriving the dynamic model of the segmented IPMC. For the electromechanical property of the IPMC a simple RC model is used and the finite-element approach is used for dynamic modeling of the mechanical portion of the segmented IPMC. The proposed modeling approach can be used for designing various controllers .