Forward Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators for Bionic Knee Joint

Abstract:

Ionic Polymer Composite Material (IPMC) is a flexible material and has revealed many advantages to encourage the scientists and researchers to investigate its characteristics for practical applications in various fields. The ongoing research can be divided into two branches. One deals with the improvement of the material properties to make it more useful and reliable while the other involves the exploration of new application areas. In this paper, Firstly, a new application of IPMC is suggested to actuate a rigid link that can mimic a bionic knee joint for a grass hopper manipulator. Secondly, forward kinematic model is proposed for the manipulator by employing geometric coordinate system method. Lastly, wolfram mathematica software is employed for the simulation of the model. The simulation results based on the model are found very encouraging to lure the article team to carry on the research idea for manufacturing and testing for the comparison of both types of results.

• Periodical: Advanced Materials Research (Volumes 889-890)
• Pages: 938-941
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.889-890.938
• Online since: February 2014
• Authors: Muhammad Farid*, Zhao Gang, Tran Linh Khuong, Zhuang Zhi Sun
• Keywords: Bionic Joint, Forward Kinematic, Ionic Polymer Metal Composite (IPMC)

References

[1] M. Shahinpoor and J.K. Kim, Ionic Polymer metal Composites: Industrial and medical applications IV, Smart Mater. Struct., vol. 14, pp.197-214, (2005).

DOI: 10.1088/0964-1726/14/1/020

[2] Shahinpoor Mohsin, Ionic polymer-conductor composites as biomimetic sensors, robotic actuators and artificial muscles-a review, Electrochemical Actuator, vol. 48, no. 23, pp.43-53, (2003).

DOI: 10.1016/s0013-4686(03)00224-x

[3] Satoshi Tadokorooro et al, Linear Apporximate Dynamic Model of ICPF (Ionic Conducting Polymer Gel Film) Actuator, in IEEE International Conference on Robotics and, vol. 3, 1996, pp.219-225.

DOI: 10.1109/robot.1996.503781

[4] L Fortuna et al, A nonlinear model for ionic polymer metal composites as actuators, Smart material and Structure, vol. 16, pp.1-12, (2007).

[5] Kenneth Newbury, Characterization, Modeling, and Control of Ionic Polymer Transducers, Blacksburg Virginia, Blacksburg Virginia, PhD thesis (2002).

[6] John J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., (2004).

[7] Adrian Zafiu Ilie Popa, A Model of Multi-DOF Microrobot Manipulator Using Artificial Muscle, in 1st WSEAS International Conference on Biomedical Electronics and Biomedical Informatics, Rhodes, Greece, 2008, pp.97-101.