Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 1 potx
Electroactive Polymers for Robotic Applications doc
... Dr. Eng.Graduate School of In formationSciencesTohoku Univers itySendaiJapanBritish Library Cataloguing in Publication Data Electroactive polymers for robotic applications :ar tificial muscles ... developed for wide range of applications and for hydrodynamic propulsion. Various swimming and flapping applications have been also been researched [36]. 1.3.2.3 Conducting Polymers Conducting polymers ... M. Konyo, S. Tadokoro, K. Asaka 227 Kwang J. Kim and Sa toshi Tadokoro (Eds.) Electroactive Polymers for Robotic Applications Artificial Muscles and Sensors123 12 R. Samatham et al. irradiated...
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Electroactive Polymers for Robotic Applications Kwang J. Kim and Satoshi Tadokoro pptx
... between deformation and current intensity needs to be determined for the efficient use of electromagnets [26]. Electr oactiv e Polymers for Robotic Application s Kwang J. Kim and Sa toshi Tadokoro ... Data Electroactive polymers for robotic applications :ar tificial muscles and sensors1.Actuators 2.Detectors 3.Robots - Cont rol systems4.Conducting polymers I .Kim, Kwang Jin, 1949- II .Tadokoro, ... toshi Tadokoro (Eds.) Electroactive Polymers for Robotic Applications Artificial Muscles and Sensors123 Active Polymers: An Overview 19 plates of a capacitor, the coulombic forces between the...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 12 pps
... ion-induced lateral strain for molluskan robotics,'' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 201 0- 2017, 2002. K. Mallavarapu, K. Newbury and D. J. Leo, ''Feedback ... micropump,'' Proc. of IEEE Int. Conf. on Robotics and Automation, pp.217 1- 2176, 1999. S. Tadokoro, S. Yamagami, M. Ozawa, T. Kimura and T. Takamori, ``Multi-DOF device for soft micromanipulation ... stimuli Part II. Response kinetics,'' Journal of Electroanalytical Chemistry, 480, pp.18 6-1 98, 2000. S. Tadokoro, S. Yamagami and T. Takamori, ``An actuator model of ICPF for robotic applications...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 13 ppt
... could perform -2 -1 0125 Hz4 Hz3 Hz2 Hz232.5 3.5Amplitude of very-low frequency vibration [V](82.2)(97.7)(114.9)(129.0)(*) : Average force for 5 Hz [gf]Figure 9.12. Pressure force ... Applications of Ionic Polymer-Metal Composites 243 with platinum plating for actuation and one Nafion part without plating for an elastic connection. The whole structure is fixed to form ... driving force by friction using bending actuators. Figure 9.16 shows an experimental development using the Nafion-Pt composite. It has two actuator parts Applications of Ionic Polymer-Metal...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 14 pot
... International Applications of Ionic Polymer-Metal Composites 257 -0 .2 0 0.2 -0 .200.2Velocity [m/s] -0 .2 0 0.2 -0 .200.2 -0 .2 0 0.2 -0 .200.2 -0 .2 0 0.2 -0 .200.2T=0T=60T=180T=120k = -9 .669k ... using Eq. (10.12) as Applications of Ionic Polymer-Metal Composites 259 0.00.050.100.15 -0 .05 -0 .10 -0 .150 50 100 150 200 250 300Time [ms]1.51.00.50.0 -0 .5 -1 .01.5SensorVelocityFigure ... International Conference on Robotics and Automation, pp. 217 7-2 182, 1999. [10] Tadokoro S., S. Yamagami, T. Kimura, T. Takamori, and K. Oguro, “Development of a multi-degree-of-freedom micro motion...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 1 potx
... Control Number: 2006938344ISBN 97 8 -1 -8 462 8-3 7 1- 0 e-ISBN 97 8 -1 -8 462 8-3 7 2-7 Printed on acid-free paperâ Springer-Verlag London Limited 2007Apart from any fair dealing for the purposes of research ... and sensors 1. Actuators 2.Detectors 3.Robots - Cont rol systems4.Conducting polymers I .Kim, Kwang Jin, 19 4 9- II .Tadokoro, Satoshi629.8’933ISBN -1 3 : 97 818 46283 710 ISBN -1 0 : 18 4628371XLibrary ... Virginia 236 81, U.S.A. e-mail:ji.su -1 @ nasa.gov S. Tadokoro Graduate School of Information Sciences, Tohoku University, 6-6 - 01 Aramaki Aza Aoba, Aoba-ku, Sendai 98 0-8 579, Japan e-mail: tadokoro@ rm.is.tohoku.ac.jp...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 2 pdf
... developed for wide range of applications and for hydrodynamic propulsion. Various swimming and flapping applications have been also been researched [36]. 1.3 .2. 3 Conducting Polymers Conducting polymers ... relationship between deformation and current intensity needs to be determined for the efficient use of electromagnets [26 ]. Active Polymers: An Overview 25 1.3 .2 Ionic-EAPs The following paragraphs ... to 2 mm were produced. Ionic polymers were transformed into IPMCs by depositing metal on both sides. Metal particles (3–10 nm) were loaded on both sides penetrating the polymers up to 10 20 ...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 3 ppt
... Suwon, Kyunggi-do 44 0-7 46, South Korea, dnam@skku.edu 2School of Mechanical Engineering, Sungkyunkwan University, 30 0 Chunchun-dong, Jangan-gu, Suwon, Kyunggi-do 44 0-7 46, South Korea 3 School ... Baughman, Science 30 8, 63 (2005). [2] Y. Bar-Cohen, Electroactive Polymer (EAP) Actuators as Artificial Muscles-Reality, Potential and Challenges, Vol. PM 136 , SPIE-Society of Photo-optical Instrumentation ... transitions in a non-ionic gel. Journal of Chemical Physics, 81: 637 9– 638 0. [70] K. Choi, K.J. Kim, D. Kim, C. Manford, and S. Heo (2006) Performance characteristics of electro-chemically driven...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 4 doc
... paradigm State Electrode (ABC)Stiff state - - - or + + + More compliant + + - or - - + Action toward A + - - or - + + Action toward B - - + or + + - OutputterminalDielectricelastomersHigh ... calculated by 43 21CCCCVL 43 21CCCCVR (3.17) where 2 542 2 4 2321252 43 1AAAxkFAAAAkAAACdd >@21 4 52 4 222252 4 23221 4 53 43 222 AAAxkFAAAAAkAAAACdd ... Fkdx0 < VL< Vmax0 < VR< VmaxandVL= f ( x, k, F )VR= f ( x, k, F )YesNoVL = 0 or VmaxorVR= 0 or VmaxVL= f ( k, VR )VR= f ( k, VL )''''orVLVRVLVRStiffness...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 5 doc
... ddrriaGGG (3.34) Robotic Applications of Artificial Muscle Actuators 75 0 50 0 1000 150 0 2000 250 0 3000 -0 .04 -0 .0 35 -0 .03 -0 .0 25 -0 .02 -0 .0 15 -0 .01 -0 .0 05 0Voltage (V)StrainFigure ... 200.10.20.30.40 .5 Displacement(mm)Time (sec)0 50 01000 150 02000 250 0Voltage(V)Voltage InputDisplacement(a) displacement 0 0. 05 0.1 0. 15 0.2 0. 25 0.3 0. 35 0.40 5 10 15 Force(mN)Time ... Elastomer : Dynamic Analysis and Applications, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 321 8-3 223. 80 H.R. Choi et al. 0 50 0 1000 150 0 2000 250 0 300000.020.040.060.080.10.120.140.160.180.2Voltage...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 7 pptx
... weight, dipole density and remnant polarization of odd-numbered nylons N-3 N-5 N -7 N-9 N-11 Molecular weight of repeat unit 71 .1 99.1 1 27. 2 155.2 183.3Dipole density (D/100 Angstrom3) 4.30 ... However, for odd-numbered nylons, the melt-quench and cold-stretching process is critical for the parallel sheet structure formed by hydrogen bonds. Parallel-sheet-structured, the odd-numbered ... of electric field displacement, D, versus applied electric field, E, (D-E)(-I- nylon 11, -II- PVF2 films and for -III- nylon 11/PVF2 50:50 blend). (Adapted from Q. Gaoet al. [85]) 4.4.2.4...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 8 pps
... Polymers. John Wiley & Sons, Chichester (1997). [87 ] Bard, A.J. and Faulkner, L.R. Electrochemical Methods, Fundamentals and Applications. John Wiley & Sons, New York (1 980 ). [88 ] Ren, X. and ... 5274–5 282 . 88 . [76] Mao, H., Ochmanska, J., Paulse, C.D., and Pickup, P.G. Ion transport in pyrrole–based polymer films. Faraday Discussions of the Chemical Society 88 , 165–176 (1 989 ). [77] ... 96. 94. [31] Gregory, R.V., Kimbrell, W.C., and Kuhn, H.H. Conductive textiles. Synthetic Metals 28, C823–C835 (1 989 ). [32] Lu, W. et al. Use of ionic lquids for pi–conjugagted polymer electrochemical...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 9 ppt
... al. are for a static model. Note also that ı,L12 (=L21), and K are electric conductance, cross-coefficient, and permeability, respectively. - - - - - - - - ++++++++EP<P>hWATERțEİ+İcİ - - - - - - - - - ++++++++EP<P>hWATERțEİ+İcİ - Figure ... respectively. - - - - - - - - ++++++++EP<P>hWATERțEİ+İcİ - - - - - - - - - ++++++++EP<P>hWATERțEİ+İcİ - Figure 6.2. Principle of the bending motion. KE, h, E, and ... procedure, the force-displacement relationship was obtained as shown in Figure 6 .9. Figure 6 .9 shows the measured force-displacement relationship for an IPMC actuator for two- and three-volt inputs...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 10 pot
... -8 0 -4 00 40 800 -8 0 -4 00 40 80 -8 0 -4 00 40 80 -8 0 -4 00 40 800 -4 0 -8 0 -1 20 -1 60 -4 0 -8 0 -1 20 -1 6000 -4 0 -8 0 -1 20 -1 60 -4 0 -8 0 -1 20 -1 6000 -4 0 -8 0 -1 20 -1 60 -4 0 -8 0 -1 20 -1 60 -8 0 -4 00 ... 80 -8 0 -4 00 40 80 -8 0 -4 00 40 800 -4 0 -8 0 -1 200 -4 0 -8 0 -1 200 -4 0 -8 0 -1 200 -4 0 -8 0 -1 200 -4 0 -8 0 -1 200 -4 0 -8 0 -1 20 -8 0 -4 00 40 80 -8 0 -4 00 40 80(pixel)0 ms 250 ms 500 ms750 ms 100 0 ... response -0 .10.10.20.30.4 -0 .200 0.2 0.4 0.6 0.8 1.0(A)T1T2 -2 -1 012VoltageCurrent0 0.2 0.4 0.6 0.8 1.0(V)Time (s) -0 .10.10.2 -0 .2 -0 .300 0.2 0.4 0.6 0.8 1.0(A)Time (s) -2 -1 012(a)...
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Electroactive Polymers for Robotic Applications - Kim & Tadokoro (Eds.) Part 11 pot
... (m)(a) (b) -0 .2 -0 .1000 0.1 0.2 0.3 -0 .045 -0 .04 -0 .035 -0 .03 -0 .025 -0 .1 -0 .050 0.05 0.1dz/dtdz/dt -1 0 -5 .005.01015ForwardBackwardFx(10 -3 N) -5 .0 -4 .0 -3 .0 -2 .0 -1 .00 1.0 ... vs. propelling speed dz/dx -0 .4 -0 .2 0.2 0.4 0 0.05 0.1 0.15 0.2 0.25x (m) -0 .1 -0 .05 0.05 0.1(m/s) 0 0.05 0.1 0.15 0.2 0.25x (m) -0 .105 -0 .1 -0 .095 -0 .09 -0 .085 0 0.05 0.1 0.15 0.2 ... 2-1 2-1 Oh-okayama, Meguro-ku, Tokyo, 15 2-8 552, Japan yamakita@ctrl.titech.ac.jp 2Bio-Mimetic Control Research Center, RIKEN 227 1-1 30 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, 46 3-0 003,...
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