Quasi-static Positioning of Ionic Polymer-Metal Composite (IPMC) Actuators
نویسندگان
چکیده
Ionic polymer-metal composites (IPMCs) generate large bending motions under a low driving voltage (about 1 V). In this paper quasi-static actuation of IPMC is investigated with the goal of precise positioning. It is found that IPMC exhibits hysteresis between its bending curvature and the applied quasi-static voltage. The Preisach operator is proposed to model the hysteresis, and its density function identified experimentally. An open-loop positioning strategy is presented based on efficient inversion of the Preisach operator, and its efficacy is demonstrated by experimental results. Finally a cascaded model structure is proposed to capture both the hysteresis and the dynamics of IPMC actuators.
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