Biomimetic Robotic Artificial Muscles - download pdf or read online
By Kwang Jin Kim, Xiaobo Tan, Hyouk Ryeol Choi, David Pugal
Biomimetic robot synthetic Muscles provides a entire up to date evaluation of various kinds of electroactive fabrics with a view of utilizing them as biomimetic synthetic muscle groups. the aim of the ebook is to supply a concentrated, in-depth, but self-contained remedy of modern advances made in different promising EAP fabrics. particularly, ionic polymer-metal composites, conjugated polymers, and dielectric elastomers are thought of.
production, actual characterization, modeling, and regulate of the fabrics are awarded. particularly, the ebook adopts a structures viewpoint to combine fresh advancements in fabric processing, actuator layout, control-oriented modeling, and equipment and robot purposes. whereas the main target is at the new advancements in those topics, an attempt has been made in the course of the e-book to supply the reader with basic, uncomplicated information regarding the fabrics ahead of going into extra complicated issues. therefore, the e-book is especially a lot self-contained and anticipated to be obtainable for a reader who doesn't have history in EAPs.
in keeping with the great basic wisdom and the flexibility of the fabrics, numerous promising biomimetic and robot purposes such robot fish propelled via an IPMC tail, an IPMC power harvester, an IPMC-based valveless pump, a conjugated polymer petal-driven micropump, and an artificial elastomer actuator-enabled robot finger are verified.
Readership: Graduate scholars, lecturers and execs within the box of fabrics engineering and robotics.
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Extra info for Biomimetic Robotic Artificial Muscles
Reprinted from [Pugal et al. (2010b)]. The mesh shown in the figure contains 12 element layers in cross section and rather coarse boundary. Nonetheless, the amount of the elements turned out to be 13, 416 and the number of degrees of freedom (nDOF) for three equations were 293, 221. Although nDOF is not too large, assembling the corresponding stiffness matrix is very memory and time-consuming. This is most likely due to the nonlinearity and the Newton iterations that are required to assemble and solve the matrix.
11 The blocking force of Pt and Pt/Pd IPMCs under applied potential of 2 V. The lines represent exponentially decayed data points. Reprinted from [Kim and Kim (2008)]. The relationship between the surface morphology and the blocking force is interesting. The electrodes of Pt IPMCs are porous and contain microcracks, possibly allowing water transportation within the electrode region which in turn generates strains. At the same time, this could also cause leakage of the hydrated cations out of the electrode region and therefore prevent generating of high force.
2 Electrochemical study of the IPMCs Fig. 28 Schematic diagram of experimental setup (WE = working electrode, CE = counter electrode, and RE = reference electrode). Reprinted from [Kim and Kim (2006)]. In order to accurately understand the actuation of IPMCs, the electrochemical performance at the surface electrode was investigated. From the electrochemical analysis of the electrode reactions of IPMCs, measurements such as cyclic voltammetry (CV), chronopotentiometry, chronoamperometry, and electrochemical impedance spectrometry can be recorded.
Biomimetic Robotic Artificial Muscles by Kwang Jin Kim, Xiaobo Tan, Hyouk Ryeol Choi, David Pugal