Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation
This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter....
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2018/4031705 |
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| _version_ | 1832555086145912832 |
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| author | Yanjie Wang Jiayu Liu Denglin Zhu Hualing Chen |
| author_facet | Yanjie Wang Jiayu Liu Denglin Zhu Hualing Chen |
| author_sort | Yanjie Wang |
| collection | DOAJ |
| description | This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation. |
| format | Article |
| id | doaj-art-f1474f014cc7419e85e67cb78a042a2b |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-f1474f014cc7419e85e67cb78a042a2b2025-02-03T05:49:41ZengWileyApplied Bionics and Biomechanics1176-23221754-21032018-01-01201810.1155/2018/40317054031705Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted ManipulationYanjie Wang0Jiayu Liu1Denglin Zhu2Hualing Chen3School of Mechanical and Electrical Engineering, Hohai University, Changzhou Campus, Changzhou 213022, ChinaDepartment of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USASchool of Mechanical and Electrical Engineering, Hohai University, Changzhou Campus, Changzhou 213022, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaThis paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation.http://dx.doi.org/10.1155/2018/4031705 |
| spellingShingle | Yanjie Wang Jiayu Liu Denglin Zhu Hualing Chen Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation Applied Bionics and Biomechanics |
| title | Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation |
| title_full | Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation |
| title_fullStr | Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation |
| title_full_unstemmed | Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation |
| title_short | Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation |
| title_sort | active tube shaped actuator with embedded square rod shaped ionic polymer metal composites for robotic assisted manipulation |
| url | http://dx.doi.org/10.1155/2018/4031705 |
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