Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator

Authors

Gou Nishida, Kentaro Takagi, Bernhard Maschke, Takaaki Osada

Abstract

This paper describes the modeling of a soft actuator called an ionic polymer-metal composite (IPMC) by using distributed port-Hamiltonian (DPH) systems on multiple spatial scales. The multi-scale IPMC structure consists of an electric double layer, an electro-stress diffusion coupling and a flexible beam. The coupling of the structure can be modeled by the DPH systems with unidirectional energy flows on connecting boundaries of the subsystems, and it is called a boundary multi-scale coupling. The boundary multi-scale couplings derived from detailed models can be used for multi-scale retaining interconnections of various reduced models, e.g. numerical models with approximations.

Keywords

Multilevel systems; Bond graphs; Actuators; Distributed parameter systems; Modelling; Boundary integral formulation

Citation

• Journal: Control Engineering Practice
• Year: 2011
• Volume: 19
• Issue: 4
• Pages: 321–334
• Publisher: Elsevier BV
• DOI: 10.1016/j.conengprac.2010.10.005

BibTeX

@article{Nishida_2011,
  title={{Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator}},
  volume={19},
  ISSN={0967-0661},
  DOI={10.1016/j.conengprac.2010.10.005},
  number={4},
  journal={Control Engineering Practice},
  publisher={Elsevier BV},
  author={Nishida, Gou and Takagi, Kentaro and Maschke, Bernhard and Osada, Takaaki},
  year={2011},
  pages={321--334}
}

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