Frequency response of IPMC actuators

Physical characterization and identification for control

Conference paper (2018)

Authors

M.A. Lopez Romero University of Extremadura
Javier Prieto-Arranz Universidad de Castilla-La Mancha
Jose Emilio Traver University of Extremadura
A. Hunt Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
S. Hassan HosseinNia Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Ines Tejado University of Extremadura
Blas M. Vinagre University of Extremadura
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2018 M.A. Lopez Romero, Javier Prieto-Arranz, Jose Emilio Traver, A. Hunt, S. Hassan HosseinNia , Ines Tejado, Blas M. Vinagre
Model Control MATLAB Characterization Actuator Identification IPMC
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Published Date

2018

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and medicine in a not distance future, which will require a big knowledge in different fields, such as, manufacturing, material characterization and control theory. In this paper, frequency response of several IPMC actuators, cut from the same bulk IPMC sheet with a micro laser etching machine, is analyzed. Specifically, the objective is to1) characterize each actuator, i.e., determine how cutting affects to the parameters of the physical model of this kind of actuators, and 2) identify a model for each actuator for control purposes. The frequency responses have been obtained experimentally in LabVIEW by attaching a couple of gold electrodes to each IPMC unit and measuring the tip deflection by means of a laser distance meter.