Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control

Kentaro Takagi; Suguru Hirayama; Shigenori Sano; Naoki Uchiyama; Kinji Asaka

doi:10.1117/12.915161

3 April 2012 Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control

Kentaro Takagi, Suguru Hirayama, Shigenori Sano, Naoki Uchiyama, Kinji Asaka

Proceedings Volume 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012; 83402J (2012) https://doi.org/10.1117/12.915161
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

In practical applications, stress-relaxation phenomenon is not preferable feature of IPMC (ionic polymer-metal composite) actuators. In this study, we propose a control method using two (or more) IPMCs in order to reduce the stress-relaxation phenomenon. In the experiment, the force generated by two IPMC strips is measured by a force sensor. The proposed control signal consists of a small fluctuating signal which is oscillating independently of the command, in addition to a simple feedback controller with a feedforward term. We have found that the time to reach the limit voltage became more than twice if the fluctuating signal was added.

Citation Download Citation

Kentaro Takagi, Suguru Hirayama, Shigenori Sano, Naoki Uchiyama, and Kinji Asaka "Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control", Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83402J (3 April 2012); https://doi.org/10.1117/12.915161

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