Linear modeling of elongated bending EAP actuator at large deformations

Indrek Must; Mart Anton; Maarja Kruusmaa; Alvo Aabloo

doi:10.1117/12.815776

6 April 2009 Linear modeling of elongated bending EAP actuator at large deformations

Indrek Must, Mart Anton, Maarja Kruusmaa, Alvo Aabloo

Proceedings Volume 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009; 728723 (2009) https://doi.org/10.1117/12.815776
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2009, San Diego, California, United States

Abstract

This paper describes a linear dynamic model of an elongated bending Electroactive Polymer (EAP) actuator applicable with deformations of any magnitude. The model formulates relation of a) voltage applied to the EAP sheet, b) current passing through the EAP sheet, c) force applied by the actuator and d) deformation of the actuator. In this model only the geometry of EAP piece and four empirical parameters of the EAP material: a) bending stiffness, b) electromechanical coupling term, c) electrical impedance and d) initial curvature are considered. The contribution of this paper is introducing a model that can be used to characterize the properties of different EAP materials and compare them. The advantage of the model is its simplicity and ability to provide insights in to the behavior of bending EAPs. Additionally, due to linearity of the model, the real-time control is feasible. Experiments, using Ionomeric Polymer-Metal Composite (IPMC) sheet from Environmental Robotics Inc., where carried out to verify the model. The experimental results confirm the model is valid.

Citation Download Citation

Indrek Must, Mart Anton, Maarja Kruusmaa, and Alvo Aabloo "Linear modeling of elongated bending EAP actuator at large deformations", Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 728723 (6 April 2009); https://doi.org/10.1117/12.815776

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