IPMC 액추에이터의 정확한 포지셔닝을 위한 빠른 복귀 기법

Abstract

Ionic Polymer Metal Composites (IPMCs) are novel materials made of a ionic polymer layer (the order of magnitude of its thickness being hundreds of micrometers) and metal deposed on both faces. IPMCs can bend if an electrical signal is applied or generate an electrical signal when mechanically solicited. They represent hence promising materials to realize actuators and sensors. The interest toward IPMCs is quickly increased in various fields such as robotics, biomedics, aerospace and so on. Although many researches for IPMCs have been accomplished related with applications to actuators, the characteristics about sensors have been seldom developed. Also, it has a problem due to reversion to an initial position, which is important for the accurate positioning of an actuator. In this paper, a fast reversion method of IPMC actuator using sensory feature is presented.