Title :
An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses
Author :
Tadokoro, Satoshi ; Yamagami, Shinji ; Takamori, Toshi ; Oguro, Keisuke
Author_Institution :
Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
Abstract :
The ICPF (ionic conducting polymer gel film) actuator is a new high polymer gel actuator by which revolutionary robotic mechanisms are expected. Actuator models for CAE are essential to the robotic design. However, present black/gray-box models of ICPF cannot express its nonlinear characteristics with enough accuracy. In this paper, a white-box actuator model is proposed on the basis of physicochemical hypotheses on the motion principle which are supported at present. In this model, travel of sodium ions and water molecules in the actuator membrane is modeled. Internal stress is generated by swell and contraction of the gel by water content change, electrostatic force of fixed sulfonic acid groups, and momentum conservation effect. Simulation results show higher accuracy on transient response and nonlinear characteristics in comparison with conventional models
Keywords :
conducting polymers; control nonlinearities; electric actuators; gels; ionic conductivity; polymer films; robots; transient response; CAE; ICPF; actuator membrane; actuator model; electrostatic force; fixed sulfonic acid groups; gel contraction; gel swell; high polymer gel actuator; internal stress; ionic conducting polymer gel film; momentum conservation effect; nonlinear characteristics; physicochemical hypotheses; revolutionary robotic mechanisms; robotic applications; sodium ion travel; transient response; water content change; water molecule travel; white-box actuator model; Actuators; Biomembranes; Computer aided engineering; Conductive films; Electrostatics; Internal stresses; Polymer films; Polymer gels; Robots; Water conservation;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844784