This book presents a novel continuum finite deformation framework addressing the complex interactions among electrostatics, species transport, and mechanics in solid networks immersed in a fluid phase of solvent and ions. Grounded on cutting-edge multiphysics theories for soft active materials, the proposed model is primarily applied to ionic polymer metal composites (IPMCs). First, the influence of shear deformation on the IPMC response is analyzed through semi-analytical solutions obtained via the method of matched asymptotic expansions. Second, the novel electrochemo-poromechanical theory is used to predict the curvature relaxation and electric discharge that are observed in IPMC actuation and sensing, respectively, under a sustained stimulus. This newly formulated theory is, in turn, applied to biological cell clusters. Here, important mechanical considerations are integrated into classical bioelectrical models, thus offering novel insights into the interplay of mechanical and electrical signaling in the coordination of developmental processes.

This book discusses the fundamental of bending actuation with a focus on ionic metal composites. It describes the applications of ionic polymer metal composite (IPMC) actuators, from conventional robotic systems to compliant micro robotic systems used to handle the miniature and fragile components during robotic micro assembly. It also presents mathematical modelings of actuators for engineering, biomedical, medical and environmental systems. The fundamental relation of IPMC actuators to the biomimetic systems are also included.

The present work is in the field of functional materials known as electroactive polymers. Electroactive polymers work as a system, enhancing the use of electrical energy to produce displacements and possible mechanical work. An ionic polymer-metal composite is one type of materials. The use of ionic polymer-metal composite actuators is currently a field in development with several areas to be fulfilled by researchers. The objective of this investigation is to develop a constitutive model of the bending deformation of an electroactive ionic polymer-metal composite strip as a response to an electrical input and the ion contents of the material. The constitutive model uses an approach of phase transformation to describe the changes in the cross section of an ionic polymer-metal composite, while modeling the deformations as a bending beam system. For the solution of the constitutive model, the composite material is prepared and characterized. The information about deformation in terms of potential difference, frequency and ionic specie content is gathered through an experimental analysis. The results of this analysis are used to find the parameters in the proposed model. The constitutive model may be applied then to as an engineering tool to propose the design and simulation for a reconfigurable system that uses the IPMC strip with the control variables needed for its repositioning of a device.

This thesis describes the open-loop behavior of an ionic polymer metal composite (IPMC) strip as a novel actuator, the empirical force and position models, the control system and the improved dynamic characteristics with the feedback control implemented. Ionic polymer metal composite is a novel polymer in the class of electroactive polymers. IPMC consists of a base polymer coated with electrodes made up of highly conducting pure metals such as gold. The actuation behavior of IPMC can be attributed to the bending of an IPMC strip upon application of voltage across its thickness. The main reasons for the bending are ion migration on the application of voltage and swelling and contraction caused by water content. An experimental setup to study the open-loop force and tip displacement of an IPMC strip in a cantilever configuration was developed, and real time controllers were implemented. In open loop, the force response of the IPMC strip of dimensions 25 mm x 3.9 mm x 0.16 mm to a 1.2-V step input is studied. The open-loop rise time was 0.08 s and the percent overshoot was 131.62 %, while the settling time was about 10 s. Based on this open-loop step response using a least-square curve-fitting methodology, a fourth-order empirical transfer function from the voltage input to the force output was derived. The tip displacement response of an IPMC strip of dimensions 23 mm x 3.96 mm x 0.16 mm to a 1.2-V step input was also studied. The step response exhibited a 205.34 % overshoot with a rise time of 0.08 s, and the settling time was 27 s. A fourth-order empirical transfer function from the step input to the tip displacement as output was also derived. Based on the derived transfer functions lead-lag feedback controllers were designed for precision control of both force and displacement. The control objectives were to decrease the settling time and the percent overshoot, and achieve reference input tracking. After implementing the controllers, the percent overshoot decreased to 30% while the settling time was reduced to 1.5 s in case of force control. With position control, the settling time was reduced to 1 s while the percent overshoot decreased to 20%. Precision micro-scale force and position-control capabilities of the IPMC were also demonstrated. A 4 [mu]N force resolution was achieved, with a force noise of 0.904-[mu]N rms. The position resolution was 20 [mu]m with a position noise of 7.6-[mu]m rms.

"This book focuses on electro active polymer material known as Ionic Polymer Metal Composite (IPMC) having unique applicability as sensor and actuator which finds extensive use in various domain of engineering and science research. Apart from fundamentals of the IPMC concept, various applications are covered extensively across the chapters including space, underwater and nanoscale including manufacturing processes. Dedicated chapters are included for robotics and biomedical applications and possible research gaps. Future research perspectives for IPMC are also discussed. Features: covers principle of Ionic Polymer Metal Composite (IPMC), manufacturing processes, applications, and future possibilities in a systematic manner, highlights IPMC practical applicability in biomedical engineering domain, explores Single-walled carbon nanotubes (SWNT) based IPMC soft actuators, discusses IPMC applications in underwater areas, and includes IPMC application in robotics focusing on special compliant mechanism. This book aims at researchers, graduate students and professionals in materials and mechanical engineering, robotics, mechatronics, biomedical engineering, and physics"--