Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2014.501.509FaridKhattak Muhammad GangZhao KhuongTran Linh SunZhuang-Zhi 62014146Ionic 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.]]>Abedi, E., A.A. Nadooshan and S. Salehi,200822461467Asaka, K. and K. Oguro,2000480186198Bonomo, C., L. Fortuna, P. Giannone, S. Graziani and S. Strazzeri,20062006pp: 83-99pp: 83-99Kim, C.J., N.C. Park, H.S. Yang, Y.P. Park and K.H. Park et al.,2009728717Nemat-Nasser, S.,200292899915Nemat-Nasser, S. and Y.J. Li,20008733213331Newbury, K.M. and J.D. Leo,2003143342Asaka, K., K. Oguro, Y. Nishimura, M. Mizuhata and H. Takenaka,199527436440Punning, A., U. Johanson, M. Anton, A. Aabloo and M. Kruusmaa,20092017111724Shahinpoor, M. and K.J. Kim,200213369376Shahinpoor, M. and K.J. Kim,200514197214Takenaka, H., E. Torikai, Y. Kawami and N. Wakabayashi,19827397403Weiland, L.M. and D.J. Leo,2005973541Wu, Y. and S. Nemat-Nasser,20045385155158Wu, Y. and S. Nemat-Nasser,20045385155158