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Journal of Applied Sciences
  Year: 2014 | Volume: 14 | Issue: 6 | Page No.: 501-509
DOI: 10.3923/jas.2014.501.509
 
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Dynamic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuated Manipulator

Khattak Muhammad Farid, Zhao Gang, Tran Linh Khuong and Zhuang-Zhi Sun

Abstract:
Ionic Polymer Metal Composites (IPMC) are soft and flexible materials that can produce large bending when low voltage is applied to them. This bending motion in parallel configuration enables the material to produce actuating force at the tip of the material strips. This characteristic of IPMCmakes these materials suitable for multiple applications in industrial, medical,biological and biomimetic fields. In this study four different contributions are made. Firstly, a complete dynamic model has been developedtopropose the ionic polymer metal composites as an actuating link for a two link bionic linkage of a manipulator as there was no such model before. The equations of motion are derived by using Lagrangian mechanicsfortheionic polymer metal compositeactuated two links manipulator joint. Secondly, a pair of ionic polymer metal composite strips is proposed as the actuating link to cater for the low force generation. Thirdly, the finite difference method is utilized for the solution of the model. Finally, the performance of the model is examined with numerical simulationsbuilt on time and frequency based simulation results for three different cases. Since, the aim of the model is to design a physical linkage where the force for the physical joint is provided by IPMC, therefore, the effect of increasing the mass of the second linksecond link has been analyzed with the same material properties comprising the initial link. Our results indicate that the mass of the second link is inversely proportional to the angle moved by it, whereas the kinetic and potential energies are directly proportional. Link-2 lags in time interval as compared to link-1, since link-1 is the driving link. The frequency-based analysis exposed that increasing mass of the link causes an increase in the vibrating frequency. These results anticipatethat ionic polymer metal composite has sufficient potential to provide the force for the movements of manipulator links and can be employed to micro-scaled, multiple-joint manipulators to open a gateway forpractical purposes.
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How to cite this article:

Khattak Muhammad Farid, Zhao Gang, Tran Linh Khuong and Zhuang-Zhi Sun, 2014. Dynamic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuated Manipulator. Journal of Applied Sciences, 14: 501-509.

DOI: 10.3923/jas.2014.501.509

URL: https://scialert.net/abstract/?doi=jas.2014.501.509

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