Yousefi-Koma A., Fazeli R.

Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, in compact robotic systems, new actuator technologies are required. Ionic Polymer-Metal Composites (IPMCs) are attractive electroactive polymer actuators because of their characteristics of electrically induced bending, mechanical flexibility, low excitation voltage, low density, and ease of fabrication. A dynamic analytical model of IPMC is developed in this study. An RC model is employed based on time response results of a typical silver deposited IPMC. Results show that the electrical model is a suitable presentation of IPMC actuators. The model is tested with two experimental data of IPMC actuators. Results show an excellent agreement between the theoretical and experimental data. The control of ionic polymer metal composite actuators is investigated from a practical perspective. A proportional, integrator and derivative (PID) control system is then employed for position control of the integrated composite structure. Results demonstrate the simplicity and effectiveness of the proposed model in active vibration control of smart structures using IPMC actuators.