BY

ABHIJIT.R.C.
S7M1
ROLL NO:27101
 INTRODUCTION
Electro active polymers (EAP) are
actuation materials that are used to drive
mechanisms and are fastly replacing
conventional methods. Several investigations
are in its way to utilize the excellent properties of
the polymer. These materials are now applied in
various fields including robotics, medicine,
defense etc:-and are effective alternatives for
conventional sensors and actuators such as
motors, gears, bearings, screws etc:- EAP’s can
change all the paradigms of design.
 EAP’s are soft actuators consists
mainly of a ionic polymer background with
metallic electrodes deposited on the surface.
When an external voltage is applied, it causes
the bending or actuation towards the anode
side, whose deflection can be conveniently
controlled.
 MICROSTRUCTURE AND COMPOSITION
(IONOMERS AS BENDING EAP
ACTUATORS)
• The bending EAP actuator is composed
mainly of perflourinated ion exchange
membrane metallic composite backbone
called ionic polymer metallic composite or
IPMC(0.18µm)
• IPMC have commercial name Nafion®.
• The ionomer background or matrix is
coated on both sides with metallic
electrodes made of noble metals such as
Pt,Au or Pt/Au(5-10µm).
• It is then neutralized with a certain amount of
counter-ions such as monovalent cations of
alkali metals such as Li+ ,Na+ ,K+ and Rb+.
• A finishing layer of gold is provided to increase
surface conductivity.
• It is then fully solvated. The most common
solvent used is water but we can also use
organic solvents like Ethylene glycol or Glycerol.
• An IPMC has to be kept moist continuously for
long working(4 months) and it is done by
providing a polysilicon coating.
MANUFACTURING TECHNIQUES
The current manufacturing techniques of IPMC’s
Incorporates 2 distinct processes:
1.Initial compositing process
2.Surface electroding process

Rectangular silicone wells with size 1cm by 3cm by 2-5mm is used

as containers for IPMC fabrication. It is deposited on glass slides.
 Initial compositing process
• It is to metallize the inner surface of polymer by a chemical reduction process.

• Ionic polymer is soaked in salt solution of a complex salt Pt(NH3)4HCl

• a proper reducing agent such as LiBH4 or NaBH4 is introduced to metallize the

polymer

• LiBH4 + 4[Pt(NH3)4]2+ + 8OH-

==> 4Pt + 16NH3 + LiBO2 + 6H2O.

• The metallic platinum particle are not homogeneously formed across the membrane
but concentrate predominantly near the interface boundaries. It has been
experimentally observed that the platinum particulate layer is buried microns deep
(typically 1–20 µm) within the IPMC surface and is highly dispersed.
Schematic showing Initial
compositing process
 Surface electroding process
• In the subsequent surface electroding process,
multiple reducing agents are introduced (under
optimized concentrations) to carry out the
reducing reaction similar to previous equation in
addition to the initial platinum layer formed by
the initial compositing process.
• The roughened surface disappears.
• Platinum will deposit predominately on top of
initial Pt layer.
• Other metals which are also successfully used
include palladium, silver, gold, carbon, graphite
etc:-
Schematic of Surface electroding
process
• After the upper electrode
material is deposited and
allowed to air dry, the
glass slide is placed in an
oven and annealed at
700C for 45minutes.
• The silicone well is filled
with deionized water for
30 minutes to saturate
the IPMC.
• The device is lifted from
the well with tweezers
and tested
• A low modulus poly
silicon coating is applied
to the surface to trap the
solvent inside IPMC.
MECHANISM FOR ELECTRICAL
ACTUATION
• When an external voltage is applied on an IPMC
film, it causes bending towards the anode
• The IPMC strip bends due to these ion
migration induced hydraulic actuation and
redistribution.
• Nafion IPMC has the ability to absorb
considerable amount of water, which increases
the cations mobility and conductivity.
• The cations will get hydrated while the anions
sulfonate(SO3-) group remains fixed to the
polymer matrix.
• When a voltage(1-3V)
is applied the hydrated
cations will move
towards the cathode
side.
• The swelling or
expansion at the
cathode side results
due to the increase in
volume at the cathode
side of IPMC, as a
result of the transfer of
hydrated cations.
• This swelling is followed
by a slow back relaxation
towards cathode.
• This is because that the
weak bonds associated
with the hydrated cations
break after prolonged
exposure to the applied
electric field causing the
inherent ‘relaxation.’
• This will cause the re-
orientation of the cations
in the boundary layer.
• Finally the EAP will come
to an equilibrium position.
 FACTORS AFFECTING
ACTUATION
1. Counter ion species.
2. Hydration
3. Frequency
4. Potential
5. Temperature
6. Platinum penetration & dispersion
 APPLICATIONS OF EAP
1.EAP actuating a dust wiper in NASA mission
INDUSTRIAL
APPLICATIONS:

• Miniature Robotic arm

• EAP was used to

make android heads
that could mimic facial
expressions.
• Robotic swimming
fish:
This remotely
controllable stealthy,
noiseless, biomimetic
swimming robotic fish
made with IPMC’s,
can be used for
naval applications.

• Linear actuators:
• Slithering device: Snake-like locomotion can be accomplished by
arranging appropriate segments of the IPMC in series and
controlling each segment’s bending by applying sequential input
power to each segment in a cascade mode.

• Resonant flying machines: By providing a suitable oscillator

frequency close to the resonant frequency we can cause large
displacements similar to flapping of wings like insects.

• Electromechanical relay switches: Non-magnetic, self-contained,

electromechanical relay switches can be made from IPMC’s by
utilizing their good conductivity and bending characteristics in small
applied voltages to close a circuit.

• Diaphragm pumps using flexing IPMC strips and diaphragms:

Single or multiple IPMC’s can function as the diaphragms that
create positive volume displacement. The applied voltage amplitude
and frequency can be adjusted to control the flow and volume of
fluid being pumped. Such a pump produces no noise and has a
controllable flow rate in the range of a few micro liters per minute.
BIO-MEDICAL APPLICATIONS:
Target applications include compact pumps, including
prosthetic blood pumps, and robotic instruments for
minimally invasive surgery
• Heart compression device:
Ionic polymeric metal composite (IPMC)
biomimetic sensors, actuators and artificial
muscles integrated as a heart
compression device which can be
implanted external to the patient’s heart,
and partly sutured to the heart without
contacting or interfering with the internal
blood circulation. Thus, the potential IPMC
device thereby can avoid thrombosis and
similar complications.
• Artificial smooth muscle actuator: By arranging
IPMC materials segments, we can provide
skeletal joint mobility.
• Correction of refractive errors of the
human eyes and bionic eyes and vision.
• Surgical tool:
The IPMC actuator can be adopted for
use as a guide wire or a micro-catheter in
biomedical applications for intra-cavity
endoscopic surgery and diagnostics. Small
internal cavities in the body can be
navigated by using small strip or fiber-like
IPMC actuators.
 ADVANTAGES
• Lighter compared to other actuators and
sensors.
• Soft and flexible, hence find wide
application in bio-medical field
• EAP’s can be mass produced. Hence it
results in low cost.
• EAP’s can be easily fabricated in various
shapes.
• Inherent vibration damping.
• Response speed is significantly higher.
• Superior fatigue characteristics
• Large actuation strains
• Can withstand extreme conditions esp. up
to -1400C.This suits EAP in planetary
applications.
 DISADVANTAGES
• No effective and robust EAP material is
currently commercially available.
• Selection of suitable and satisfying
materials poses a problem as new and
new materials emerge.
• A compromise between stress and strain
needed
 CONCLUSION
• Electroactive polymers have emerged with great potential
enabling the development of unique biomimetic devices. As
artificial muscles, EAP actuators are offering capabilities
that are currently considered science fiction. Developing
such actuators is requiring development on all fronts of the
field infrastructure. Enhancement of the performance of
EAP will require advancement in related computational
chemistry models, comprehensive material science, electro-
mechanics analytical tools, and improved material
processing techniques.
Making robots that are actuated by EAP as
artificial muscles that are controlled by artificial intelligence
would create a new science and technology realities. While
such capabilities are expected to significantly change future
robots, significant research and development effort is
needed to develop robust and effective EAP-based
actuators.
 REFERENCES
• www.ndeaa.jpl.nasa.gov/nasa-nde/lommas/aa-hp.htm -
19k
• www.spie.org/web/meetings/
programs/ss00/courses/sc125.html
• www.hmc.psu.edu/artorg/electrop/
• www.azom.com/details.asp?ArticleID=885
• www.unm.edu/~amri/SMSReview-4
• www.mae.cornell.edu/ccsl/papers/SFF05_Malone
• www.teccenter.org/electroactive_
polymers/licensingterms.html
• www.materialsnetbase.com/ejournals/
books/book_summary/summary.asp?id=1047 - 22k