Theoretical and Experimental Investigation on the Multiple Shape Memory Ionic Polymer-Metal Composite Actuator

Development of biomimetic actuators has been an essential motivation in the study of smart materials. However, few materials are capable of controlling complex twisting and bending deformations simultaneously or separately using a dynamic control system. The ionic polymer-metal composite (IPMC) is an emerging smart material in actuation and sensing applications, such as biomimetic robotics, advanced medical devices and human affinity applications. Here, we report a Multiple Shape Memory Ionic Polymer-Metal Composite (MSM-IPMC) actuator having multiple-shape memory effect, and is able to perform complex motion by two external inputs, electrical and thermal. Prior to the development of this type of actuator, this capability only could be realized with existing actuator technologies by using multiple actuators or another robotic system. Theoretical and experimental investigation on the MSM-IPMC actuator were performed. To date, the effect of the surface electrode properties change on the actuating of IPMC have not been well studied. To address this problem, we theoretically predict and experimentally investigate the dynamic electro-mechanical response of the IPMC thin-strip actuator. A model of the IPMC actuator is proposed based on the Poisson-Nernst-Planck equations for ion transport and charge dynamics in the polymer membrane, while a physical model for the change of surface resistance of the electrodes of the IPMC due to deformation is also incorporated. By incorporating these two models, a complete, dynamic, physics-based model for IPMC actuators is presented. To verify the model, IPMC samples were prepared and experiments were conducted. The results show that the theoretical model can accurately predict the actuating performance of IPMC actuators over a range of dynamic conditions. Additionally, the charge dynamics inside the polymer during the oscillation of the IPMC are presented. It is also shown that the charge at the boundary mainly affects the induced stress of the IPMC. This study is beneficial for the comprehensive understanding of the surface electrode effect on the performance of IPMC actuators. In our study, we introduce a soft MSM-IPMC actuator having multiple degrees-of-freedom that demonstrates high maneuverability when controlled by two external inputs, electrical and thermal. These multiple inputs allow for complex motions that are routine in nature, but that would be otherwise difficult to obtain with a single actuator. To the best of our knowledge, this MSM-IPMC actuator is the first solitary actuator capable of multiple-input control and the resulting deformability and maneuverability. The shape memory properties of MSM-IPMC were theoretically and experimentally studied. We presented the multiple shape memory properties of Nafion cylinder. A physics based model of the IPMC was proposed. The free energy density theory was utilized to analyze the shape properties of the IPMC. To verify the model, IPMC samples with the Nafion as the base membrane was prepared and experiments were conducted. Simulation of the model was performed and the results were compared with the experimental data. It was successfully demonstrated that the theoretical model can well explain the shape memory properties of the IPMC. The results showed that the reheat glass transition temperature of the IPMC is lower than the programming temperature. It was also found that the back-relaxation of the IPMC decreases as the programming temperature increases. This study may be useful for the better understanding of the shape memory effect of IPMC. Furthermore, we theoretically modeled and experimentally investigated the multiple shape memory effect of MSM-IPMC. We proposed a new physical principle to explain the shape memory behavior. A theoretical model of the multiple shape memory effect of MSM-IPMC was developed. Based on our previous study on the electro-mechanical actuation effect of IPMC, we proposed a comprehensive physics-based model of MSM-IPMC which couples the actuation effect and the multiple shape memory effect. It is the first model that includes these two actuation effects and multiple shape memory effect. Simulation of the model was performed using finite element method. To verify the model, an MSM-IPMC sample was prepared. Experimental tests of MSM-IPMC were conducted. By comparing the simulation results and the experimental results, both results have a good agreement. The multiple shape memory effect and reversibility of three different polymers, namely the Nafion, Aquivion and GEFC with three different ions, which are the hydrogen, lithium and sodium, were also quantitatively tested respectively. Based on the results, it is shown that all the polymers have good multiple shape memory effect and reversibility. The ions have an influence on the broad glass transition range of the polymers. The current study is beneficial for the better understanding of the underlying physics of MSM-IPMC. A biomimetic underwater robot, that was actuated by the MSM-IPMC, was developed. The design of the robot was inspired by the pectoral fish swimming modes, such as stingrays, knifefish and cuttefish. The robot was actuated by two soft fins which were consisted of multiple IPMC samples. Through actuating the IPMCs separately, traveling wave was generated on the soft fin. Experiments were performed for the test of the robot. The deformation and the blocking force of the IPMCs on the fin were measured. A force measurement system in a flow channel was implemented. The thrust force of the robot under different frequencies and traveling wave numbers were recorded. Multiple shape memory effect was performed on the robot. The robot was capable of changing its swimming modes from Gymnotiform to Mobuliform, which has high deformability, maneuverability and agility

Study of parameters dominating electromechanical and sensing response in ionic electroactive polymer (IEAP) transducers

Ionic electroactive polymer (IEAP) transducers are a class of smart structures based on polymers that can be designed as soft actuators or sensors. IEAP actuators exhibit a high mechanical response to an external electrical stimulus. Conversely, they produce electrical signals when subjected to mechanical force. IEAP transducers are mainly composed of four different components: The ionomeric membrane (usually Nafion) is an ion permeable polymer that acts as the backbone of the transducer. Two conductive network composite (CNC) layer on both sides of the ionomeric membrane that enhance the surface conductivity and serve as an extra reservoir to the electrolytes. The electrolytes, (usually ionic liquids (IL)), which provides the mobile ions. And two outer electrodes on both sides of the transducer to either provide a distributed applied potential across the actuators (usually gold leaves) or to collect the generated signals from the sensors (usually copper electrodes). Any variation in any of these components or the operating conditions will directly affect the performance of the IEAP transduces. In this dissertation, we studied some of the parameters dominating the performance of the IEAP transducers by varying some of the transducers components or the transducers operating conditions in order to enhance their performance. The first study was conducted to understand the influence of ionic liquid concentration on the electromechanical performance of IEAP actuators. The IL weight percentage (wt%) was varied from 10% to 30% and both the electromechanical (induced strain) and the electrochemical (the current flow across the actuators) were studied. The results from this study showed an enhanced electrochemical performance (current flow is higher for higher IL wt%) and a maximum electromechanical strain of approximately 1.4% at 22 wt% IL content. A lower induced strain was noticed for IL wt% lower or higher than 22%. The second study was to investigate the effect of changing the morphology of the CNC on the sensing performance of IEAP stress sensors. In this study, small salt molecules were added to the CNC layers. Salt molecules directly affected the morphology of the CNC layers resulting in a thicker, more porous, and high conductive CNCs. As a result, the ionic conductivity increased through the CNC layers and sensing performance was enhanced significantly. In the third study, a non-linear angular deformation (limb-like motion) was achieved by varying the CNC layers of the IEAP actuators by adding some conjugated polymers (CP) patterns during the fabrication of the actuators. It was found that the segments with the CP layers will only expand and never contract during the actuation process. Depending on the direction of motion and the location of the CP layers, different actuation shapes such as square or triangular shapes were achieved rather than the typical circular bending. In the fourth study, the influence of temperature on the electromechanical properties of the IEAP actuators was examined. In this study, both electromechanical and electrochemical studies were conducted for actuators that were operated at temperatures ranging from 25 ðC to 90 ðC. The electromechanical results showed a lower cationic curvature with increasing temperature up to 70 ðC. On the other hand, a maximum anionic curvature was achieved at 50 ðC with a sudden decrease after 50 ðC. Actuators started to lose functionality and showed unpredictable performance at temperatures higher than 70 ðC. Electrochemically, an enhancement of the ionic conductivity was resulted from increasing temperature up to 80 ðC. A sudden increase in current flow was recorded at 90 ðC indicating a shorted circuit and actuator failure. Finally, in the fifth study, protons in Nafion membranes were exchanged with other counterions of different Van der Waals volumes. The ionic conductivity was measured for IEAP membranes with different counterions at different temperatures. The results showed higher ionic conductivities across membranes with larger Van der Waals volume counterions and higher temperatures. A different ionic conductivity behavior was also noticed for temperatures ranging from 30 úC to 55 úC than temperatures between 55 úC and 70 úC after fitting the data with the Arrhenius conductivity equation

Computational Study of Ionic Polymers: Multiscale Stiffness Predictions and Modeling of the Electromechanical Transduction

Ionic polymer transducers (IPTs) represent a relatively new class of active (¡®smart¡¯) materials, which can function as highly sensitive mechanical sensors as well as actuators. An IPT is made of an ionic polymer membrane sandwiched between two conductive electrodes. They generate controllable strain when applying a low voltage (<5 V) across their thickness and generate measurable currents due to extremely small mechanical strain. IPTs are cost effective and often have superior sensing capabilities compared to other active materials such as piezoelectrics. However, this novel class of transducers has not been widely employed mainly because the mechanism of IPT sensing is not clearly understood. In this dissertation, the mechanical properties of ionic polymers, the ionomer morphology, and the fundamental mechanism responsible for the electromechanical sensing responses of IPTs are studied. A multiscale model for the prediction of material stiffness is presented. The results give access to a fundamental material parameters currently inaccessible via experimentation, namely local stiffness. Subsequently the sensing mechanism of stream potential is hypothesized. It is argued that the mechanism of streaming potential, unlike prior hypotheses, is able to systematically explain generalized experimentally observed sensing phenomena, such as the observation of an optimum conductive particulate volume fraction in the interpenetrating electrode region of the transducer. Moreover, it is argued that coupling the exploration of local stiffness and streaming potential is prerequisite to gaining insight into subtler experimental sensing phenomena such as experimentally observed variations in sensing due to variations in IPT architecture

Influence of conductive network composite thickness and structure on performance of ionic polymer-metal composite transducer

The important role of the nanostructure of conductive network composite (CNC) layers on the performance of ionic polymer-metal composite (IPMC) transducer has been discussed detailedly. IPMC transducers exhibit both electromechanical and mechanoelectrical behaviors. When subjected to an external electric field, electromechanical behavior of IPMC transducers causes an actuation response which can be reversed by alternation of the polarity of the applied field. The same structure, when subjected to an external mechanical force, generates an electrical signal which can be picked up by ordinary electronic. Mechanoelectrical behavior of IPMCs is utilized in stress sensors and structural health monitoring devices. We have employed the layer by layer (LbL) self-assembly technique to fabricate CNC layers based on spherical gold nanoparticles (AuNPs) and poly(allylamine hydrochloride) (PAH) polycation with a controllable thickness in nano and micro ranges; which, when compared with IPMC transducer without CNC layers on both sides of ionomeric membrane, show an improvement in the actuation and sensing performances significantly. Moreover, the thickness and conformation of CNC nanostructure can also be adjusted by the addition of small salt molecules. The presence of salt ions can affect the conformation of polymer chains and their molecular shape since it screens the repulsive force among the same charges on the repeat units of polyelectrolyte. As a result, the polymer chains become more coiling when dissolved in an environment with high ionic strength. At the same time, while part of the charges have been screened, larger amount of polymer chains or nanoparticles are required to reverse the surface charge led by the previous layer. The presence of salt ions in CNC can also prohibit the aggregation of AuNPs and promote a more homogeneous distribution of the nanoparticles. In this case, both the thickness and conformation of CNC have been changed; which, as indicated by experimental results, has a positive influence on the actuation and sensing performance of IPMC devices

Design and Modeling of a New Biomimetic Soft Robotic Jellyfish Using IPMC-Based Electroactive Polymers

Smart materials and soft robotics have been seen to be particularly well-suited for developing biomimetic devices and are active fields of research. In this study, the design and modeling of a new biomimetic soft robot is described. Initial work was made in the modeling of a biomimetic robot based on the locomotion and kinematics of jellyfish. Modifications were made to the governing equations for jellyfish locomotion that accounted for geometric differences between biology and the robotic design. In particular, the capability of the model to account for the mass and geometry of the robot design has been added for better flexibility in the model setup. A simple geometrically defined model is developed and used to show the feasibility of a proposed biomimetic robot under a prescribed geometric deformation to the robot structure. A more robust mechanics model is then developed which uses linear beam theory is coupled to an equivalent circuit model to simulate actuation of the robot with ionic polymer-metal composite (IPMC) actuators. The mechanics model of the soft robot is compared to that of the geometric model as well as biological jellyfish swimming to highlight its improved efficiency. The design models are characterized against a biological jellyfish model in terms of propulsive efficiency. Using the mechanics model, the locomotive energetics as modeled in literature on biological jellyfish are explored. Locomotive efficiency and cost as a function of swimming cycles are examined for various swimming modes developed, followed by an analysis of the initial transient and steady-state swimming velocities. Applications for fluid pumping or thrust vectoring utilizing the same basic robot design are also proposed. The new design shows a clear advantage over its purely biological counterpart for a soft-robot, with the newly proposed biomimetic swimming mode offering enhanced swimming efficiency and steady-state velocities for a given size and volume exchange

Ioonsete elektromehaaniliselt aktiivsete polümeeride deformatsioonist sõltuv elektroodi impedants

Väitekirja elektrooniline versioon ei sisalda publikatsioone.Elektromehaaniliselt aktiivsed materjalid on polümeeridel põhinevad mitmekihilised komposiitmaterjalid, mis muudavad oma välist kuju, kui neid elektriliselt stimuleerida; tihti nimetatakse neid ka tehislihasteks. Taolistest materjalidest valmistatud täiturid pakkuvad huvi nii mikrolaborseadmetes kui ka loodust matkivas robootikas, sest võimaldavad luua keerukaid ülipisikesi ajameid. Võrreldes tavapäraste elektrimootoritega võimaldavad EAP-d (elektromehaaniliselt aktiivsed polümeerid) helitut liigutust ning neid saab lõigata konkreetse rakenduse jaoks sobivasse suurusesse. EAP-d jagunevad kahte põhiklassi: elektron- ja ioon-EAP. Doktoritöös käsitletakse kahte erinevat ioon-EAP materjali, kus mehaaniline koste on tingitud ioonide ümberpaigutumisest kolmekihilises komposiitmaterjalis. Kuna EAP-de elektromehaanilised omadused sõltuvad lisaks sisendpinge amplituudile ja sagedusele ka tugevasti ümbritseva keskkonna parameetritest (nt niiskus ja temperatuur), siis on nendest materjalidest loodud täiturite juhtimiseks tarvilik kasutada tagasisidet. Täiendav tagasisideallikas võib oma omaduste tõttu aga vähendada EAP-de rakendusvõimalusi ning seetõttu on eesmärgiks luua n-ö isetundlik EAP ajam, mis funktsioneerib samaaegselt nii täituri kui ka liigutusandurina. Doktoritööd esitatakse uuritud materjalide elektroodi impedantsi ja deformatsiooni vaheline seos ning kirjeldatakse vastav elektriline mudel. Eraldamaks andursignaali täituri sisendpingest pakutakse välja elektroodikihi piires täituri ja anduri elektriline eraldamine. Loobudes ainult elektroodimaterjalist säilitab polümeerkarkass täituri ja anduri mehaanilise ühendatuse – seega taolises süsteemis järgib sensor täituri kuju, kuigi need on elektriliselt lahti sidestatud. Elektroodimaterjali valikuliseks eemaldamiseks kasutatakse mitmeid erinevaid meetodeid (freesimine, laserablatsioon jne) ning ühtlasi uuritakse nende kasutusmugavust ja protsessi mõju kogu komposiitmaterjalile.Electromechanically active materials are polymer-based composites exhibiting mechanical deformation under electrical stimulus, i.e. they can be implemented as soft actuators in variety of devices. In comparison to conventional electromechanical actuators, their key characteristics include easy customisation, noiseless operation, straightforward mechanical design, sophisticated motion patterns, etc. Ionic EAPs (electromechanically active polymers) are one of two primary classes of electroactive materials, where actuation is caused mostly by the displacement of ions inside polymer matrix. Mechanical response of ionic EAPs is, in addition to voltage and frequency, dependent on environmental variables such as humidity and temperature. Therefore a major challenge lies in achieving controlled actuation of these materials. Due to their size and added complexity, external feedback devices inhibit the application of micro-scale actuators. Hence, self-sensing EAP actuators—capable for simultaneous actuation and sensing—are desired. In this thesis, sensing based on deformation-dependent electrochemical impedance is demonstrated and modelled for two types of trilayer ionic EAPs—ionic polymer-metal composite and carbon-polymer composite. Separating sensing signal from the input signal of the actuator is achieved by patterning the electrode layers of an IEAP material in a way that different but mechanically coupled sections for actuation and sensing are created. A variety of concepts for pattering the electrode layers (machining, laser ablation, masking, etc.) are implemented and their applicability is discussed

Multiscale Implications of Stress-Induced Ionic Polymer Transducer Sensing

Ionic Polymer Transducers (IPTs) can act as both actuators and sensors. As actuators, the energy density values are much better than PZT or PVDF materials. As sensors, IPTs are extraordinarily sensitive and have the potential to be used in any mode of deformation. However, application of IPT sensors is limited because of a lack of understanding of their fundamental physics. In this work, the main focus will be to explore and develop a better understanding of how IPTs function with respect to shear deformation. In turn, the results developed here will improve upon the state of understanding of IPT sensors in general and potentially expand meaningful application opportunities. Because IPT active response is a multiscale phenomenon, this study adopts a multiscale modeling framework. Of interest are the interplay among the polymeric backbone of the ionic polymer, the diluent present in the hydrophilic regions of the polymer and the interspersed electrode particulate. To begin, this work improves upon a past multiscale modeling framework for the polymer backbone based upon Rotational Isomeric State Theory such that the effects of material anisotropy may be considered. This is potentially significant in light of the polymer manufacturing process. These modeling results are then incorporated into a model of the diluent movement within the ionic transport regions of the IPT. The electrical current predictions are based upon streaming potential theories. Finally, this model incorporates viscoelastic behavior in order to develop a better understanding of the coupling of these two systems (the polymer and the diluent) and how this coupling influence affects the expected current output over time

Modeling and Optimal Control of Curvatures in IPMC's

There has been a growing number of research activities in the area of using smart materials in day to day lives because of their ability to serve both as sensors and actuators. Ionic Polymer Metal Composites (IPMCs) are one of such materials which have been extensively studied in the past few decades to not only understand its working principles but to also model and control their curvature. The problem of building an electromechanical model in order to explain the functioning of IPMCs under favorable and unfavorable conditions is still unsolved. This work proposes a control oriented electromechanical model for induced bending curvature in the IPMC material based on the empirical data received on Nafion based IPMC specimen. This model is further utilized to formulate a control oriented dynamic model from which an Optimal Control System was suggested for the IPMC actuator and supported by experimental results on the tip displacement

Novel Configurations of Ionic Polymer-Metal Composites (IPMCs) As Sensors, Actuators, and Energy Harvesters

This dissertation starts with describing the IPMC and defining its chemical structure and fundamental characteristics in Chapter 1. The application of these materials in the form of actuator, sensor, and energy harvester are reported through a literature review in Chapter 2. The literature review involves some electromechanical modeling approaches toward physics of the IPMC as well as some of the experimental results and test reports. This chapter also includes a short description of the manufacturing process of the IPMC. Chapter 3 presents the mechanical modeling of IPMC in actuation. For modeling, shear deformation expected not to be significant. Hence, the Euler-Bernoulli beam theory considered to be the approach defining the shape and critical points of the proposed IPMC elements. Description of modeling of IPMC in sensing mode is in Chapter 4. Since the material undergoes large deformation, large beam deformation is considered for both actuation and sensing model. Basic configurations of IPMC as sensor and actuator are introduced in Chapter 5. These basic configurations, based on a systematic approach, generate a large number of possible configurations. Based on the presented mechanisms, some parameters can be defined, but the selection of a proper arrangement remained as an unknown parameter. This mater is addressed by introducing a decision-making algorithm. A series of design for slit cylindrical/tubular/helical IPMC actuators and sensors are introduced in chapter 5. A consideration related to twisting of IPMCs in helical formations is reported through some experiments. Combinations of these IPMC actuators and sensors can be made to make biomimetic robotic devices as some of them are discussed in this chapter and the following Chapters 6 and 7. Another set of IPMC actuator/sensor configurations are introduced as a loop sensor and actuator that are presented subsequently in Chapter 6. These configurations may serve as haptic and tactile feedback sensors, particularly for robotic surgery. Both of these configurations (loop and slit cylindrical) of IPMCs are discussed in details, and some experimental measurements and results are also carried out and reported. The model for different inputs is studied, and report of the feedback is presented. Various designs of these configurations of IPMC are also presented in chapter 7, including their extension to mechanical metamaterials and soft robots