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Abstract

In this article a kinematic model of multi-segmented ionic polymer metal composite (IPMC) patches has been proposed for micro-manipulation under moisture conditions. Pseudo-rigid body modeling and Euler—Bernoulli approach has been followed to get the end-tip position of the segmented patches. Kinematic modeling is carried out after constituting the homogeneous coordinate transformation considering it as a serial link multi-DOF manipulator. The motion of patches is restricted as planar in 2D. Simulation has been undertaken for single and two patches of IPMC to demonstrate the tip positioning of the segmented IPMC patches for different sequences of input voltage. The experiment is conducted for a single segment of IPMC to validate simulation results. It is observed that experimental results match the simulation results precisely.

Keywords

electro-active polymer ionic polymer metal composite pseudo-rigid body model micro-manipulation.

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Quasi-Static Tip Positioning of Multi-Segmented IPMC for Micro-Manipulation following Euler—Bernoulli and Pseudo-Rigid Body Model

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