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}
}

Download the bib file

References

• Asaka K, Oguro K (2000) Bending of polyelectrolyte membrane platinum composites by electric stimuli. Journal of Electroanalytical Chemistry 480(1-2):186–198. https://doi.org/10.1016/s0022-0728(99)00458-1 – 10.1016/s0022-0728(99)00458-1
• Baaiu A, Couenne F, Eberard D, Jallut C, Lefevre L, Legorrec Y, Maschke B (2009) Port-based modelling of mass transport phenomena. Mathematical and Computer Modelling of Dynamical Systems 15(3):233–254. https://doi.org/10.1080/13873950902808578 – 10.1080/13873950902808578
• Bar-Cohen Y (ed) (2004) Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, Second Edition. SPIE, 1000 20th Street, Bellingham, WA 98227-0010 USA – 10.1117/3.547465
• Bennett MD, Leo DJ (2004) Ionic liquids as stable solvents for ionic polymer transducers. Sensors and Actuators A: Physical 115(1):79–90. https://doi.org/10.1016/j.sna.2004.03.043 – 10.1016/j.sna.2004.03.043
• Gennes PG de, Okumura K, Shahinpoor M, Kim KJ (2000) Mechanoelectric effects in ionic gels. Europhys Lett 50(4):513–518. https://doi.org/10.1209/epl/i2000-00299-3 – 10.1209/epl/i2000-00299-3
• Franco, A., Schott, P., Jallut, C., & Maschke, B. (2006). Multi-scale bond graph model of the electrochemical dynamics in a fuel cell. In Proceedings of the 5th MATHMOD conference, Vienna, Austria.
• Golo, G., Talasila, V., & van der Schaft, A. (2002). A Hamiltonian formulation of the Timoshenko beam. In Proceedings of the mechatronics 2002 (pp. 544–553). Enschede, The Netherlands: Drebbel Institute for Mechatronics, University of Twente (full paper on accompanying CD-rom).
• Golo G, Talasila V, van der Schaft A, Maschke B (2004) Hamiltonian discretization of boundary control systems. Automatica 40(5):757–771. https://doi.org/10.1016/j.automatica.2003.12.017 – 10.1016/j.automatica.2003.12.017
• Hamroun, Port-based modelling for open channel irrigation systems. Transaction on Fluid Mechanics (2006)
• Kang S, Shin J, Kim SJ, Kim HJ, Kim YH (2007) Robust control of ionic polymer–metal composites. Smart Mater Struct 16(6):2457–2463. https://doi.org/10.1088/0964-1726/16/6/049 – 10.1088/0964-1726/16/6/049
• Kanno R, Tadokoro S, Takamori T, Hattori M, Oguro K (2002) Linear approximate dynamic model of ICPF (ionic conducting polymer gel film) actuator. In: Proceedings of IEEE International Conference on Robotics and Automation. IEEE, pp 219–225 – 10.1109/robot.1996.503781
• Karnopp, (2006)
• Kothera CS, Leo DJ (2005) Bandwidth Characterization in the Micropositioning of Ionic Polymer Actuators. Journal of Intelligent Material Systems and Structures 16(1):3–13. https://doi.org/10.1177/1045389x05046310 – 10.1177/1045389x05046310
• Macchelli, A., & Maschke, B. (2009). Infinite-dimensional port-Hamiltonian systems. Modeling and control of complex physical systems—the port-Hamiltonian approach. Springer.
• Macchelli A, Melchiorri C (2004) Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM J Control Optim 43(2):743–767. https://doi.org/10.1137/s0363012903429530 – 10.1137/s0363012903429530
• Mallavarapu K, Leo DJ (2001) Feedback Control of the Bending Response of Ionic Polymer Actuators. Journal of Intelligent Material Systems and Structures 12(3):143–155. https://doi.org/10.1106/vj5t-9jml-bhv8-m2cg – 10.1106/vj5t-9jml-bhv8-m2cg
• Meirovitch, (1986)
• Meirovitch, (1997)
• Mojarrad M, Shahinpoor M (1997) Ion-exchange-metal composite sensor films. In: Claus RO (ed) SPIE Proceedings. SPIE, pp 52–60 – 10.1117/12.275724
• Moulla, R., Lefèvre, L., Maschke, B. Geometric reduction of distributed parameter systems using pseudo-spectral methods. Mathematical and Computer Modelling of Dynamical Systems, to appear.
• Nemat-Nasser S, Li JY (2000) Electromechanical response of ionic polymer-metal composites. Journal of Applied Physics 87(7):3321–3331. https://doi.org/10.1063/1.372343 – 10.1063/1.372343
• Newbury KM, Leo DJ (2003) Linear Electromechanical Model of Ionic Polymer Transducers -Part I: Model Development. Journal of Intelligent Material Systems and Structures 14(6):333–342. https://doi.org/10.1177/1045389x03034976 – 10.1177/1045389x03034976
• Nishida G, Takagi K, Maschke B, Luo Z-wei (2008) Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite. IFAC Proceedings Volumes 41(2):2300–2305. https://doi.org/10.3182/20080706-5-kr-1001.00388 – 10.3182/20080706-5-kr-1001.00388
• Gou Nishida, Yamakita M (2005) Distributed port hamiltonian formulation of flexible beams under large deformations. In: Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005. IEEE, pp 589–594 – 10.1109/cca.2005.1507190
• Onishi K, Sewa S, Asaka K, Fujiwara N, Oguro K (2001) The effects of counter ions on characterization and performance of a solid polymer electrolyte actuator. Electrochimica Acta 46(8):1233–1241. https://doi.org/10.1016/s0013-4686(00)00695-2 – 10.1016/s0013-4686(00)00695-2
• Ortega, (1998)
• Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278-3 – 10.1016/s0005-1098(01)00278-3
• Richardson RC, Levesley MC, Brown MD, Hawkes JA, Watterson K, Walker PG (2003) Control of ionic polymer metal composites. IEEE/ASME Trans Mechatron 8(2):245–253. https://doi.org/10.1109/tmech.2003.812835 – 10.1109/tmech.2003.812835
• Shahinpoor M, Kim KJ (2001) Ionic polymer-metal composites: I. Fundamentals. Smart Mater Struct 10(4):819–833. https://doi.org/10.1088/0964-1726/10/4/327 – 10.1088/0964-1726/10/4/327
• Simo JC, Vu-Quoc L (1986) On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part I. Journal of Applied Mechanics 53(4):849–854. https://doi.org/10.1115/1.3171870 – 10.1115/1.3171870
• Stramigioli, S. (2001). Modeling and IPC control of interactive mechanical systems: a coordinate-free approach. Lecture notes in control and information science (Vol. 266). London, Great Britain: Springer.
• Tadokoro S, Fukuhara M, Bar-Cohen Y, Oguro K, Takamori T (2000) CAE approach in application of Nafion-Pt composite (ICPF) actuators: analysis for surface wipers of NASA MUSES-CN nanorovers. In: Bar-Cohen Y (ed) SPIE Proceedings. SPIE, p 262 – 10.1117/12.387785
• Takagi K, Nakabo Y, Luo Z-W, Asaka K (2007) On a distributed parameter model for electrical impedance of ionic polymer. In: Bar-Cohen Y (ed) SPIE Proceedings. SPIE, p 652416 – 10.1117/12.715554
• Tzou, (1993)
• van der Schaft AJ, Maschke BM (2002) Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42(1-2):166–194. https://doi.org/10.1016/s0393-0440(01)00083-3 – 10.1016/s0393-0440(01)00083-3
• Villegas JA, Zwart H, Le Gorrec Y, Maschke B (2009) Exponential Stability of a Class of Boundary Control Systems. IEEE Trans Automat Contr 54(1):142–147. https://doi.org/10.1109/tac.2008.2007176 – 10.1109/tac.2008.2007176
• Wallmersperger, Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling. Journal of Applied Physics (2007)
• Yamakita M, Kamamichi N, Kaneda Y, Asaka K, Luo Z-W (2004) Development of an artificial muscle linear actuator using ionic polymer–metal composites. Advanced Robotics 18(4):383–399. https://doi.org/10.1163/156855304773822473 – 10.1163/156855304773822473
• Yamakita M, Sera A, Kamamichi N, Asaka K, Zhi-Wei Luo (2006) Integrated design of IPMC actuator/sensor. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. IEEE, pp 1834–1839 – 10.1109/robot.2006.1641973
• Yamaue T, Mukai H, Asaka K, Doi M (2005) Electrostress Diffusion Coupling Model for Polyelectrolyte Gels. Macromolecules 38(4):1349–1356. https://doi.org/10.1021/ma047944j – 10.1021/ma047944j
• Yi B-J, Busch-Vishniac I (2006) Modeling of EAPs as multiple energy domain systems: a bond graph approach. In: Bar-Cohen Y (ed) SPIE Proceedings. SPIE, p 61681G – 10.1117/12.657840