PMID- 17671327
OWN - NLM
STAT- MEDLINE
DCOM- 20070911
LR  - 20070802
IS  - 1748-3190 (Electronic)
IS  - 1748-3182 (Linking)
VI  - 2
IP  - 2
DP  - 2007 Jun
TI  - An artificial muscle actuator for biomimetic underwater propulsors.
PG  - S31-41
AB  - In this paper, we introduce the analytical framework of the modeling dynamic 
      characteristics of a soft artificial muscle actuator for aquatic propulsor 
      applications. The artificial muscle used for this underwater application is an 
      ionic polymer-metal composite (IPMC) which can generate bending motion in aquatic 
      environments. The inputs of the model are the voltages applied to multiple IPMCs, 
      and the output can be either the shape of the actuators or the thrust force 
      generated from the interaction between dynamic actuator motions and surrounding 
      water. In order to determine the relationship between the input voltages and the 
      bending moments, the simplified RC model is used, and the mechanical beam theory 
      is used for the bending motion of IPMC actuators. Also, the hydrodynamic forces 
      exerted on an actuator as it moves relative to the surrounding medium or water 
      are added to the equations of motion to study the effect of actuator bending on 
      the thrust force generation. The proposed method can be used for modeling the 
      general bending type artificial muscle actuator in a single or segmented form 
      operating in the water. The segmented design has more flexibility in controlling 
      the shape of the actuator when compared with the single form, especially in 
      generating undulatory waves. Considering an inherent nature of large deformations 
      in the IPMC actuator, a large deflection beam model has been developed and 
      integrated with the electrical RC model and hydrodynamic forces to develop the 
      state space model of the actuator system. The model was validated against 
      existing experimental data.
FAU - Yim, Woosoon
AU  - Yim W
AD  - Intelligent Structures and Control Laboratory, Department of Mechanical 
      Engineering, University of Nevada, Las Vegas, NV 89154, USA.
FAU - Lee, Joonsoo
AU  - Lee J
FAU - Kim, Kwang J
AU  - Kim KJ
LA  - eng
PT  - Journal Article
PT  - Research Support, Non-U.S. Gov't
DEP - 20070605
PL  - England
TA  - Bioinspir Biomim
JT  - Bioinspiration & biomimetics
JID - 101292902
RN  - 0 (Polymers)
SB  - IM
MH  - *Biomimetic Materials
MH  - Computer-Aided Design
MH  - Equipment Design
MH  - Equipment Failure Analysis
MH  - Extremities/*physiology
MH  - Muscle Contraction/*physiology
MH  - Muscle, Skeletal/*physiology
MH  - Polymers/*chemistry
MH  - Robotics/*instrumentation/methods
MH  - Swimming/*physiology
EDAT- 2007/08/03 09:00
MHDA- 2007/09/12 09:00
CRDT- 2007/08/03 09:00
PHST- 2007/08/03 09:00 [pubmed]
PHST- 2007/09/12 09:00 [medline]
PHST- 2007/08/03 09:00 [entrez]
AID - S1748-3182(07)36621-0 [pii]
AID - 10.1088/1748-3182/2/2/S04 [doi]
PST - ppublish
SO  - Bioinspir Biomim. 2007 Jun;2(2):S31-41. doi: 10.1088/1748-3182/2/2/S04. Epub 2007 
      Jun 5.