Biomimetic robotic artificial muscles [electronic resource] / Kwang Jin Kim [and others].

ISBN:

9789814390361

Title:

Author:

Kim, Kwang J.

Publication Information:

Physical Description:

1 online resource (xiii, 285 pages :) : illustrations (some color)

Contents:

1. Introduction -- 2. Physical principles of ionic polymer-metal composites. 2.1. Introduction. 2.2. Manufacturing IPMC materials. 2.3. IPMC electrode selection and associated electrode models. 2.4. Actuation behavior and mechanism of IPMCs. 2.5. More complex configurations of IPMC actuators -- 3. New IPMC materials and mechanisms. 3.1. Multi-field responsive IPMCs. 3.2. IPMCs loaded with multiwalled carbon nanotubes. 3.3. IPMCs incorporating ZnO thin film. 3.4. A self-oscillating IPMC -- 4. A systems perspective on modeling of ionic polymer-metal composites. 4.1. Introduction. 4.2. A physics-based, control-oriented model. 4.3. A dynamic model for IPMC sensors. 4.4. A nonlinear model for IPMC actuators -- 5. Conjugated polymer actuators: modeling and control. 5.1. Introduction. 5.2. Trilayer PPy actuators. 5.3. A scalable electro-chemo-mechanical model. 5.4. Robust adaptive control of conjugated polymer actuators. 5.5. Redox level-dependent admittance model. 5.6. Nonlinear elasticity-based modeling of large bending deformation. 5.7. Nonlinear mechanics-motivated torsional actuator -- 6. Synthetic dielectric elastomer materials. 6.1. Introduction. 6.2. Requirements of dielectric elastomer actuator. 6.3. Synthetic elastomer. 6.4. Effects of additives on actuating performance. 6.5. Discussion -- 7. Dielectric elastomer actuator. 7.1. Introduction. 7.2. Multi-stacked actuator. 7.3. Controller of multi-stacked actuator. 7.4. Discussion -- 8. Integrated sensory feedback for EAP actuators. 8.1. Introduction. 8.2. Basic IPMC-PVDF sensori-actuator structure. 8.3. Application to microinjection of drosophila embryos. 8.4. Simultaneous densing of displacement and force. 8.5. Demonstration in feedback control experiments. 8.6. Self-sensing behavior of IPMCs -- 9. Device and robotic applications of EAPs. 9.1. Modeling of IPMC-actuated robotic fish. 9.2. IPMCs as energy harvesters. 9.3. IPMC actuator-driven valveless micropump. 9.4. PPy petals-actuated micropump. 9.5. Multi-jointed robotic finger driven by dielectric elastomer actuator -- 10. Closing.

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Electronic Access:

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Publication Date:

2013

Publication Information:

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Shelf Number	Material Type	Copy	Shelf Location	Status
530.41 23	1:E-BOOK	1	1:ONLINE	Searching... Unknown

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Summary

Biomimetic Robotic Artificial Muscles presents a comprehensive up-to-date overview of several types of electroactive materials with a view of using them as biomimetic artificial muscles. The purpose of the book is to provide a focused, in-depth, yet self-contained treatment of recent advances made in several promising EAP materials. In particular, ionic polymer-metal composites, conjugated polymers, and dielectric elastomers are considered. Manufacturing, physical characterization, modeling, and control of the materials are presented. Namely, the book adopts a systems perspective to integrate recent developments in material processing, actuator design, control-oriented modeling, and device and robotic applications. While the main focus is on the new developments in these subjects, an effort has been made throughout the book to provide the reader with general, basic information about the materials before going into more advanced topics. As a result, the book is very much self-contained and expected to be accessible for a reader who does not have background in EAPs.Based on the good fundamental knowledge and the versatility of the materials, several promising biomimetic and robotic applications such robotic fish propelled by an IPMC tail, an IPMC energy harvester, an IPMC-based valveless pump, a conjugated polymer petal-driven micropump, and a synthetic elastomer actuator-enabled robotic finger are demonstrated.