21.12.2009 21.12.2009 Background of IPMCs IPMCs are smart materials that exhibit electromechanical (actuator) properties and mechanoelectrical (sensor) applications 21.12.2009 21.12.2009 1 ‹#›

21.12.2009 21.12.2009 Background of IPMCs In 1992 Oguro et al. published paper describing bending of an ion-conducting polymer film-electrode composite by an electric stimulus at low voltage. In the recent years, research of the IPMC materials has been expanded more in terms of getting higher efficiency, better adaptability to the environment, and applicability. 21.12.2009 21.12.2009 2 ‹#›

21.12.2009 21.12.2009 Background of IPMCs IPMC materials consist of a thin ionomeric membrane with thickness of approximately 200 μm. Typical membrane materials are Nafion, Teflon, Flemion Anions are fixed to the polymer backbone and membrane also consists of freely movable cations (Na+, Ka+, Li+ and Cs+ in hydrated form) 21.12.2009 21.12.2009 3 ‹#›

21.12.2009 21.12.2009 Background of IPMCs The experimental set-up for the energy harvesting using IPMC Nafion® 117 membrane (length =  12 cm and width =  6.2 cm) the electric power generation is 3 nW at a vibrating frequency of 7.09 rad s−1 D Dogruer, R Tiwari, K Kim, Ionic polymer metal composites as energy harvesters, Proc. SPIE - Int. Soc. Opt. Eng. (USA). 6524 (2007) 65241C. 21.12.2009 21.12.2009 4 ‹#›

21.12.2009 21.12.2009 IPMC as sensor Mechanical stimulus on an IPMC causes redistribution of charges and produces a detectable electrical signal. The principle of sensing is believed to be roughly reverse of the actuation. When the material is bent, some of the solvent carrying charged ions are mechanically forced to the vicinity of one electrode. So there forms excess of charges on the expanding side of the material. This in turn results in electric field across the polymer thickness and the corresponding voltage signal can be detected on the electrodes 21.12.2009 21.12.2009 Chen, Z. et al. A dynamic model for ionic polymer–metal composite sensors 5 ‹#›

A Tactile Sensor for Biomedical Applications Based on IPMCs 21.12.2009 21.12.2009 A Tactile Sensor for Biomedical Applications Based on IPMCs 21.12.2009 21.12.2009 Bonomo, C. et al. Sensors Journal, IEEE Volume 8, Issue 8, Aug. 2008 p.1486-1493 6 ‹#›

REVIEW OF THE CURRENT MODELING FOR IPMC SENSORS AND ACTUATORS 21.12.2009 21.12.2009 REVIEW OF THE CURRENT MODELING FOR IPMC SENSORS AND ACTUATORS Black box model dictates that there is no prior knowledge of the system Gray box model indicates some system knowledge White box model is based on a purely physical derivation Üldiselt võib IPMC kontrolliks kasutatavaid mudeleid jagada kolme klassi: empiirilised, nn. musta kasti mudelid; poolempiirilised, nn. halli kasti mudelid ja füüsikalised, nn. valge kasti mudelid. Empiiriliste (musta kasti ) mudelite puhul materjalisiseseid füüsikalisi protsesse ei modelleerita ning seetõttu ei ole nad tihti geomeetriliselt skaleeruvad. Poolempiirilised mudelid (halli kasti ) baseeruvad osaliselt füüsikalistel printsiipidel, kuid (keerulisemate) protsesside arvestamiseks kasutatakse empiirilisi andmeid. Füüsikalised (valge kasti ) mudelid põhinevad aktuaatoris toimuvatel füüsikalisi protsesse kirjeldavatel diffentsiaalvõrranditel.  Erinevate töörühmade poolt on IPMC aktuaatori toimemehhanismi kirjeldamiseks välja pakutud mitmeid erinevaid mudeleid. Osad teooriad panevad põhilise rõhu elektrostaatilistele jõududele ioonide vahel , kus polümeeri paneb painduma negatiivselt laetud elektroodi juurde kogunev katioonide hulk. Teine konkureeriv teooria on hüdrauliline, kus painduma panevaks jõuks on ioonide (ja vee) liikumisest tingitud lokaalsed rõhugradiendid. 21.12.2009 21.12.2009 7 ‹#›

White-box model of Nafion-Pt composite actuators 21.12.2009 21.12.2009 White-box model of Nafion-Pt composite actuators Following physical phenomena is proposed: Computer simulation showed the following results. 1) ionic motion by electric field 1) simulated motions agreed with experimental results improving the accuracy in comparison with the conventional models, especially on the time of the maximum displacement 2) water motion by ion-drag 3) swelling and contraction of the membrane 4) momentum effect 5) electrostatic force 6) conformation change 2) nonlinear relation between input voltage and the maximum displacement was explained. S Tadokoro, S Yamagami, T Takamori, K Oguro, Modeling of Nafion-Pt composite actuators (ICPF) by ionic motion, Proc. SPIE - Int. Soc. Opt. Eng. (USA). 3987 (2000) 92-102. 21.12.2009 21.12.2009 8 ‹#›

IPMC working principle 21.12.2009 21.12.2009 IPMC working principle Summary: Electroactive polymers are a novel class of material whose full potential has yet to be realized. The primary advantages of EAPs over more traditional sensing techniques for implementation in biomimetic systems lie in their flexibility, manufacturability, diversity, and dual role as actuator and sensor. The state of technology is at varying stages of development ranging from well-established conductive rubber pressure sensors, to the more revolutionary ionic metal polymer composites. 21.12.2009 21.12.2009 A. Punning 9 ‹#›

Biomimetic fish-like underwater robot 21.12.2009 21.12.2009 Biomimetic fish-like underwater robot Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Computational Fluid Dynamics Simulations of a Biomimetic Underwater Robot. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 314 - 319. 21.12.2009 21.12.2009 10 ‹#›

21.12.2009 21.12.2009 Self-Walking Gel 21.12.2009 21.12.2009 Adv. Mater. 2007, 19, 3480–3484 11 ‹#›

21.12.2009 21.12.2009 Self-Walking Gel The autonomous motion is produced by dissipating the chemical energy of an oscillating reaction occurring inside the gel. 21.12.2009 21.12.2009 Adv. Mater. 2007, 19, 3480–3484 12 ‹#›