Linear approximate dynamic model of ICPF (ionic conducting polymer gel film) actuator
- 23 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729) , 219-225
- https://doi.org/10.1109/robot.1996.503781
Abstract
The ionic conducting polymer gel film (ICPF) actuator is a perfluorosulfonic acid membrane plated with platinum on its both surfaces. It bends in water and in wet condition by applying a low voltage of 1.5 V to its surfaces. This phenomenon was discovered in 1992. The principle of the motion is still unknown. This paper discusses 2-dimensional linear approximate modelling of the ICPF actuator. The authors are proposing a dynamic model of the actuator consisting of an electrical stage, a stress generation stage and mechanical stage. In the stress generation stage, time derivative of current generates the internal stress with a second degree delay. Expansion and contraction of each surface induce bending motion in the mechanical stage. Simulation results were in agreement with actual responses.Keywords
This publication has 3 references indexed in Scilit:
- Micro active guide wire catheter systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Modeling of ICPF (ionic conducting polymer film) actuator-modeling of electrical characteristicsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- An elliptic friction drive element using an ICPF actuatorIEEE Control Systems, 1997