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Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators

Journal Article


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Abstract


  • Electroactive polymer (EAP) actuators, also known as artificial muscles, have remarkable properties such as low energy consumption, low weight, low actuation foot-print, compliance and bio-compatibility. Several methodologies have been proposed to model and analyse their quasi-static bending behaviour with negligible attention paid to their dynamic behaviour. We, therefore, report on an enhanced methodology to model their highly non-linear bending behaviour by treating them as smart and soft robotic manipulators. The methodology consists of an inverse kinematic model and a dynamic model. The proposed methodology accurately estimates the EAP actuator's whole shape deflection using optimization-based inverse kinematic solutions integrated with an electro-mechanical dynamic model. The experimental and numerical results are presented to show the effectiveness of the soft robotic manipulator model in estimating the highly non-linear bending behaviour of the polypyrrole electroactive polymer (PPy-EAP) actuators. The proposed methodology can easily be extended to other bending type actuators and active smart manipulators. © 2014 Elsevier Ltd. All rights reserved.

Publication Date


  • 2014

Citation


  • Mutlu, R., Alici, G., Xiang, X. & Li, W. (2014). Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators. Mechatronics, 24 (3), 241-251.

Scopus Eid


  • 2-s2.0-84897913408

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=3252&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/2243

Has Global Citation Frequency


Number Of Pages


  • 10

Start Page


  • 241

End Page


  • 251

Volume


  • 24

Issue


  • 3

Place Of Publication


  • United Kingdom

Abstract


  • Electroactive polymer (EAP) actuators, also known as artificial muscles, have remarkable properties such as low energy consumption, low weight, low actuation foot-print, compliance and bio-compatibility. Several methodologies have been proposed to model and analyse their quasi-static bending behaviour with negligible attention paid to their dynamic behaviour. We, therefore, report on an enhanced methodology to model their highly non-linear bending behaviour by treating them as smart and soft robotic manipulators. The methodology consists of an inverse kinematic model and a dynamic model. The proposed methodology accurately estimates the EAP actuator's whole shape deflection using optimization-based inverse kinematic solutions integrated with an electro-mechanical dynamic model. The experimental and numerical results are presented to show the effectiveness of the soft robotic manipulator model in estimating the highly non-linear bending behaviour of the polypyrrole electroactive polymer (PPy-EAP) actuators. The proposed methodology can easily be extended to other bending type actuators and active smart manipulators. © 2014 Elsevier Ltd. All rights reserved.

Publication Date


  • 2014

Citation


  • Mutlu, R., Alici, G., Xiang, X. & Li, W. (2014). Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators. Mechatronics, 24 (3), 241-251.

Scopus Eid


  • 2-s2.0-84897913408

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=3252&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/2243

Has Global Citation Frequency


Number Of Pages


  • 10

Start Page


  • 241

End Page


  • 251

Volume


  • 24

Issue


  • 3

Place Of Publication


  • United Kingdom