Nonlinear large deformation dynamic analysis of electroactive polymer actuators

Electroactive polymers have attracted considerable attention in recent years due to their sensing and actuating properties which make them a material of choice for a wide range of applications including sensors, biomimetic robots, and biomedical micro devices. This paper presents an effective modeling strategy for nonlinear large deformation (small strains and moderate rotations) dynamic analysis of polymer actuators. Considering that the complicated electro-chemo-mechanical dynamics of these actuators is a drawback for their application in functional devices, establishing a mathematical model which can effectively predict the actuator's dynamic behavior can be of paramount importance. To effectively predict the actuator's dynamic behavior, a comprehensive mathematical model is proposed correlating the input voltage and the output bending displacement of polymer actuators. The proposed model, which is based on the rigid finite element (RFE) method, consists of two parts, namely electrical and mechanical models. The former is comprised of a ladder network of discrete resistive-capacitive components similar to the network used to model transmission lines, while the latter describes the actuator as a system of rigid links connected by spring-damping elements (sdes). Both electrical and mechanical components are validated through experimental results.

Conductive polymer coatings

Conducting polymer-coated textiles possess a wide range of electrical properties. The surface resistivity is influenced by concentrations of the reactants, the thickness of the coating, the nature of the substrate surface, the extent of penetration of the polymer into the textile structure, and the strength of the binding of the coating to the textile surface. Low resistivity in fabric results from highly doped thicker coatings that penetrate well into the textile structure, thus enabling good electrical contact between fibers. Microwave studies showed that conductive textiles are not highly effective as electromagnetic shielding materials owing to their medium-level conductivity and therefore large skin depth. Combined with the fact that coatings are around 1. ?m thick, they cannot act as effective reflective barriers to electromagnetic radiation. However, because they are highly absorptive in the microwave region, absorbing materials can be designed in conjunction with conductive textiles. Study of Fourier transform-infrared spectra of aged polypyrrole films has shown an increase in intensity of an ?,?-unsaturated conjugated carbonyl peak that may be linked to the increase in resistance but cannot be the only factor, because the rate of electrical decay was influenced by several factors such as temperature, the type and concentration of the dopant, and the aging time, all of which signify a complex mechanism of degradation of conductivity. Degradation is a major concern for conductive textile systems that needs to be characterized before considering these materials for potential applications.

Equivalent dynamic thermoviscoelastic modeling of ionic polymers

Ionic polymers have attracted considerable attention due to their interesting sensing and actuating behavior which make them a proper choice for use in a wide range of applications including biomimetic robots and biomedical devices. The complicated electro-chemo-mechanical dynamics of ionic polymer actuators is a drawback for their applications in functional devices. Therefore, establishing a mathematical model which could effectively predict the actuators' dynamic behavior is of great interest. In this paper, a mathematical model, named equivalent dynamic thermoviscoelastic (EDT) model, based on thermal analogy and beam theory is proposed for dynamic analysis of bending-type ionic polymer actuators. Then, the developed model is extended for analyzing the performance of the actuator in finite element software. The finite element analysis of the actuator enables consideration of material and geometric nonlinearities and facilitates modeling of functional devices based on the ionic polymer actuators. The proposed modeling approach is validated using experimental data.

Development of a novel soft parallel robot equipped with polymeric artificial muscles

This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.

Solid state actuators based on polypyrrole and polymer-in-ionic liquid electrolytes

Novel polymer-in-ionic liquid electrolytes (PILEs) have been developed for solid state electrochemical actuators based on polypyrrole. The active polymer electrodes are readily oxidized/reduced without degradation in the PILE. It was found that the actuator cycle life is significantly enhanced in the PILE as is the ‘shelf life’ of the device.

Nonlinear dynamic modeling of ionic polymer conductive network composite actuators using rigid finite element method

Ionic polymer conductive network composite (IPCNC) actuators are a class of electroactive polymer composites that exhibit some interesting electromechanical characteristics such as low voltage actuation, large displacements, and benefit from low density and elastic modulus. Thus, these emerging materials have potential applications in biomimetic and biomedical devices. Whereas significant efforts have been directed toward the development of IPMC actuators, the establishment of a proper mathematical model that could effectively predict the actuators' dynamic behavior is still a key challenge. This paper presents development of an effective modeling strategy for dynamic analysis of IPCNC actuators undergoing large bending deformations. The proposed model is composed of two parts, namely electrical and mechanical dynamic models. The electrical model describes the actuator as a resistive-capacitive (RC) transmission line, whereas the mechanical model describes the actuator as a system of rigid links connected by spring-damping elements. The proposed modeling approach is validated by experimental data, and the results are discussed. © 2014 Elsevier B.V. All rights reserved.

Synthesis, characterization and analytical modelling of mechanical behavior of a conducting polymer actuator

Electrochemical synthesis of a tri-layer polypyrrole based actuator optimized for performance was reported. The 0.05 M pyrrole and 0.05 M tetrabutylammonium hexaflurophosphate in propylene carbonate (PC) yielded the optimum performance and stability. The force produced ranged from 0.2 to 0.4mN. Cyclic deflection tests on PC based actuators for 3 hours indicated that the displacement decreased by 60%. PC based actuator had a longer operating time, exceeding 3 hours, compared to acetonitrile based actuators. A triple-layer model of the polymer actuator was developed based on the classic bending beam theory by considering strain electrode material. A tri-layer actuator was fabricated [4, 6], by initially sputter coating a PVDF film with approximately 100nm of gold layer, resulting in a conductive film with a surface resistance of 8-10Ω. The PVDF film was about ~145µm thick had an approximate pore size of 45μm. A solution containing 0.05M distilled pyrrole monomer, 0.05M (TBAPF6) and 1% (w/w) distilled water in PC (propylene carbonate) solution was purged with nitrogen for 15 minutes. The continuity between PPy and PVDF. Results predicted by the model were in good agreement with the experimental data.

Use of ionic liquids for π-conjugated polymer electrochemical devices

π-Conjugated polymers that are electrochemically cycled in ionic liquids have enhanced lifetimes without failure (up to 1 million cycles) and fast cycle switching speeds (100 ms). We report results for electrochemical mechanical actuators, electrochromic windows, and numeric displays made from three types of π-conjugated polymers: polyaniline, polypyrrole, and polythiophene. Experiments were performed under ambient conditions, yet the polymers showed negligible loss in electroactivity. These performance advantages were obtained by using environmentally stable, room-temperature ionic liquids composed of 1-butyl-3-methyl imidazolium cations together with anions such as tetrafluoroborate or hexafluorophosphate.