Overview of Smart Materials

Bishakh Bhattacharya & Nachiketa Tiwari

Department of Mechanical Engineering
Indian Institute of Technology, Kanpur
LECTURE 6:
6

Active Smart Polymers

(Part 2)
 Organization
• Ionic Polymer Metal Composite (IPMC)
• Actuators Developed using IPMC
• Sensors Developed using IPMC
• Future of IPMC
IONIC POLYMER METAL COMPOSITES

• Ionic electro active polymer • Low actuation voltages

• Large deformation • Fast response

Schematic Diagram of IPMC 4

Developing Double Curvature using IPMC
 Double Bending in Selemion

This IPMC consisted of

Selemion and the left half of
its top and bottom surfaces
coated with Au foils using a
paste,, and the right
p g half of its
top and bottom surfaces
coated with Dotite.
Dotite is an electricallyy
conductive adhesive
containing silver powder
manufactured by Fujikura
Kasei Co., Ltd. (Tokyo)

Selemion is a generic name of ion exchange

membranes manufactured by Asahi Glass
 MODELLING OF IPMC AS ACTUATOR

• Phenomenological
e o e o og c
modelling
• Equivalent circuit model
• Based on thermodynamics
and mechano-chemical
relationships

Curvature –voltage relationship from experiments

7
Bimorph Geometry

A Bimorph Actuator Configuration

 Constitutive Equation
q
S: strain
T: Stress

T t: layer thickness

S s  s E: Modulus of Elasticity

E s
V: App. Voltage
d: Elect-Mech. Coeff.

T V
S u  u
 d
E u tu
T V
S l  l
 d
E l tl
 Useful Model
x  a 11 f  a 12 v
q  a 21 f  a 22 v
x: displacement
2
 U

f: force
a 11 2
f
v: voltage
U: Total strain energy
2
 U
a 12  a 21 
 f v
2
 U
a 22  2
v
 IPMC based Actuators
• Single Link Manipulator
• Multi-link
Multi link Gripper
• Vibration Generation and Control
• 4-bar Manipulator
• Bio-mimetic Systems
 Types of actuation
1 Single
1. Si l electrode(1
l t d (1 DOF)

Th end
The d point
i t can be
b moved
d on a curve
Combination of Single
Single-links
links to form Gripper

Ref. electrochem.cwru.edu
 2. Two or more patches

The end point can be moved on a planar work-volume

• A small object can be manipulated in the work-volume
• DOF available will depend on the number of patches
3 IPMC induced vibration of Flexible Beam
3.
Reduction in Tip Deflection of the Flexible Beam
Application to Flexible Manipulator

System Parameters of the Flexible Beam

Potential Energy of the System
Virtual Work on the System
Dynamical EOM
IPMC based 4
4-bar
bar mechanism
Generation of work-volume
using 4-bar IPMC
Inverted IPMC film Sensor

Sahinpoor and Bar Cohen 1998

 Future of Smart Polymers
y

• Hi
Higher
h ‘IQ’ – ‘responsiveness’
‘ i ’ –larger
l actuation
t ti
corresponding to smaller stimulation, ‘agility’ –
f t response – increasing
faster i i ththe b bandwidth
d idth off th
the
existing smart materials
• Higher order ‘functionality’- self-sensing, self-
actuation, self-healing, auto-phagous, energy
harvesting, energy scavenging
p
• Exploit the success in ‘nano -technology’ gy and
develop more ‘varied’, ‘complex’ and ‘intelligent
systems’
y
Gold/Polypyrrole : A new IPMC

Ppy_mov.mpg
Concept of an Integrated Gripper-Manipulator
Gripper Manipulator

Object Entrapped
Capacitance Sensor

Smart Compliant
Link

Embedded
Controller
Lips: Design of Biomimetic System
 References
• Electroactive Polymers for Robotics
Applications
pp – Kim and Tadokoro
• Smart Structures – Paolo Gaudenzi
END OF LECTURE 6