Biomimetic Robotic Artificial Muscles

300 Pages·2012·7.95 MB·English

by  Kwang Jin Kim

Biomimetic
Robotic Artificial
Muscles
8395hc_9789814390354_tp.indd 1 27/2/13 2:19 PM
TThhiiss ppaaggee iinntteennttiioonnaallllyy lleefftt bbllaannkk
Biomimetic
Robotic Artificial
Muscles
Kwang Jin Kim
University of Nevada, Las Vegas, USA
University of Nevada, Reno, USA
Xiaobo Tan
Michigan State University, USA
Hyouk Ryeol Choi
Sungkyunkwan University, S. Korea
David Pugal
University of Nevada, Reno, USA
World Scientific
NEW JERSEY • LONDON • SINGAPORE • BEIJING • SHANGHAI • HONG KONG • TAIPEI • CHENNAI
8395hc_9789814390354_tp.indd 2 27/2/13 2:19 PM
Published by
World Scientific Publishing Co. Pte. Ltd.
5 Toh Tuck Link, Singapore 596224
USA office: 27 Warren Street, Suite 401-402, Hackensack, NJ 07601
UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library.
BIOMIMETIC ROBOTIC ARTIFICIAL MUSCLES
Copyright © 2013 by World Scientific Publishing Co. Pte. Ltd.
All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means,
electronic or mechanical, including photocopying, recording or any information storage and retrieval
system now known or to be invented, without written permission from the Publisher.
For photocopying of material in this volume, please pay a copying fee through the Copyright
Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to
photocopy is not required from the publisher.
ISBN 978-981-4390-35-4
In-house Editors: Ng Chin Ang/Rhaimie Wahap
Printed in Singapore.
Rhaimie - Biomimetic Robotic Artificial.pmd 1 3/5/2013, 11:21 AM
March 5, 2013 13:33 8395 - Biometric Robotic Artificial Muscles - 9in x 6in
Preface
Electroactivepolymers(EAPs)arearelativelynewclassoffield-responsive
materials that have gained considerable attention since early 1990s in the
U.S. after Defense Advanced Research Projects Agency started its EAP
program. In general, an EAP material is able to produce high strain ac-
tuation in response to an applied voltage, and conversely, can generate an
electric response in response to an applied deformation.
The purpose ofthis book is to provide a focused, in-depth treatmentof
recentadvancesmadeinseveralmostpromisingEAPmaterials;twoclasses
of ionic electroactive polymers, ionic polymer-metal composites (IPMCs)
and conjugated polymers, and one class of electronic polymers, dielectric
elastomers, are considered. Ionic EAPs require low voltages for actuation;
however, their bandwidth is typically in the upper range of tens of hertz
duemainlytoionicmotion. Dielectricelastomersrelyonelectrostaticforces
to actuate, and thus require high actuation voltages, but their bandwidth
and force output generally exceed those of ionic EAPs. The advantage of
using ionic EAPs can be seen from their easiness to be used in underwater
applications compared to dielectric elastomers.
In this book, considerable advancements have been made in explaining
the underlying physics of the EAP materials. It can be confidently said
by all of us that the main principles behind the actuation and sensing
phenomena are explainedreasonablywell. The knowledge has been gained
through diligent and systematic study of the materials. A large number
of different experiments have been carried out, and physics-based models
havebeendevelopedinordertounderstandthematerialsanddevelopreal,
usable applications.
ThisbookpresentstherecentdevelopmentsinEAPmaterialprocessing,
actuatordesign,control-orientedmodeling,anddeviceandroboticapplica-
v
March 5, 2013 13:33 8395 - Biometric Robotic Artificial Muscles - 9in x 6in
vi Biometric Robotic Artificial Muscles
tions. Whilethe mainfocusisonthenewdevelopments,anefforthasbeen
made throughout the book to provide the reader with general, basic infor-
mation about the materials before going into more advanced topics. As a
result, the book is very much self-contained and expected to be accessible
forareaderwhodoesnothavebackgroundinEAPs. Thebookisexpected
to be a valuable resource for researchers, including graduate students, in
theareasofsmartmaterialsandrobotics. Practitionersinbiomedicalengi-
neering,roboticsystems,andstructuralhealthmonitoringwillalsofindthis
book of interest – especially the chapter on applications. In addition, the
book can serve as a reference for senior or incoming graduate-levelcourses
in smart/intelligent materials.
Acknowledgements: Kwang J. Kim extends his special thanks to Dr.
ThomasMcKennaofthe USOfficeofNavalResearch(ONR)whohassup-
ported his research in connection with IPMC work and to Dr. Promode
Bandyopadhyay at Naval Undersea Warfare Center who continuously has
provided fruitful advices for bio-robotic applications. Furthermore, KJK
greatlyappreciatesthesupportfromtheInformation&IntelligentSystems
(IIS)/Robotics Program of the U.S. National Science Foundation (NSF).
Finally, he would like to thank help/encouragement from his colleagues,
collaborators, and graduate students including Drs. Doyeon Kim, Rashi
Tiwari,SangmunKim, Il-Seok Park,Viljar Palmre,SangkiLee,andProfs.
Alvo Aabloo, Hoon Chul Park,Deukyong Lee, and Woosoon Yim. Xiaobo
Tan gratefully acknowledges the funding from NSF CAREER Award pro-
gram(ECCS0547131)andONR(GrantN000140810640,programmanager
Dr. ThomasMcKenna)forsupportinghisresearchonEAPmaterials. Spe-
cialthanksareduetoDr. ZhengChenandDr. YangFang,whosedisserta-
tion workhas contributedsignificantly to this book. Finally, he wouldalso
like to thank ProfessorsGursel Alici, Thomas J. Pence, Maarja Kruusmaa
for their advice and collaboration on EAP research. Hyouk Ryeol Choi is
grateful to the support by Ministry of Knowledge Economy under Human
Resources Development Program for Convergence Robot Specialists and
the Korea Institute for Advancement in Technology (KIAT) through the
Workforce Development Program in Strategic Technology. Also, he would
liketothankcontributionsfromhiscolleagues,collaborators,andgraduate
students including Professors Jae-do Nam, Youngkwan Lee, Jachoon Koo,
Hyungpil Moon, and Drs. Nguyen Huu Chuc and Kwangmok Jung.
March 5, 2013 13:33 8395 - Biometric Robotic Artificial Muscles - 9in x 6in
Preface vii
Kwang J. Kim,University of Nevada, Las Vegas (UNLV) / University of
Nevada, Reno (UNR), Nevada, U.S.A.
Xiaobo Tan, Michigan State University, East Lansing, Michigan, U.S.A.
Hyouk Ryeol Choi, Sungkyunkwan University (SKKU), Suwon, South
Korea
David Pugal, University of Nevada, Reno (UNR), Nevada, U.S.A.
It took us to pull this book together about six years after we have had
the IROS 2006 Tutorial Session on Electro-Active Polymers for Use in
Robotics in October 2006 in Beijing, China. We hope that you will find the
final outcome is worth the wait! – Kwang, Xiaobo and HR.
TThhiiss ppaaggee iinntteennttiioonnaallllyy lleefftt bbllaannkk
March 5, 2013 13:33 8395 - Biometric Robotic Artificial Muscles - 9in x 6in
Contents
Preface v
1. Introduction 1
2. Physical Principles of Ionic Polymer-Metal Composites 5
2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Manufacturing IPMC Materials . . . . . . . . . . . . . . . 6
2.3 IPMC Electrode Selection and Associated Electrode
Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3.1 Palladium-buffered Pt electrodes . . . . . . . . . . 9
2.3.2 Electrode effect on mechanical and thermal
behavior . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.3 Electrode modeling . . . . . . . . . . . . . . . . . 22
2.4 Actuation Behavior and Mechanism of IPMCs . . . . . . 31
2.4.1 Back relaxation phenomenon . . . . . . . . . . . . 32
2.4.2 Electrochemical study of the IPMCs . . . . . . . . 35
2.4.3 Low-temperature characteristics of IPMCs . . . . 38
2.5 More Complex Configurations of IPMC Actuators . . . . 40
2.5.1 Equivalent modeling of IPMCs based on beam
theories . . . . . . . . . . . . . . . . . . . . . . . 42
2.5.2 3D full-scale physical model of patterned IPMCs . 46
2.5.3 IPMCs as linear actuators . . . . . . . . . . . . . 51
2.5.4 IPMC-based actuators in multi-layer configurations 54
3. New IPMC Materials and Mechanisms 59
3.1 Multi-Field Responsive IPMCs . . . . . . . . . . . . . . . 59
ix