ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: Electroactive Polymers (EAP) Actu

1. ECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Topic: Electroactive Polymers (EAP) Actuator Prepared by: Andrew Hall Dept. of Electrical and Computer Engineering Utah State University E: a.hall@aggiemail.usu.edu 3/6/2009

2. Outline • Reference list • To probe further • Major applications • Basic working principle illustrated • Application notes • Major specifications • Advantages • Limitations ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

3. Reference list • Bar-Cohen, Yoseph, ‘Electroactive Polymers (EAP)’,http://electrochem.cwru.edu/ed/encycl/art-p02-elact-pol.htm • EAP fabricating recipes, http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/EAP-recipe.htm • EMPA, http://www.empa.ch/plugin/template/empa/*/56570/---/l=1 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

4. To explore further (survival pointers of web references etc) • Bar-Cohen, Yoseph, http://eap.jpl.nasa.gov/ • Great resource of EAP information around the world. • http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/EAP-material-n-products.htm • List of manufacturers of EAP products and material. • Basic Information, http://en.wikipedia.org/wiki/Electroactive_polymers ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

5. Major applications • Artificial Muscles • Robotics • Auto focus for mobile phones • Artificial Eyelid • Braille Cells • Force feedback device ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

6. EAP Actuators • EAP are divided into two major groups: • Electronic EAP • Dielectric EAP • Electrostrictive Graft Elastomers • Electrostrictive Paper • Electro-Viscoelastic Elastomers • Ferroelectric Polymers ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

7. EAP Actuators • Ionic EAP • Carbon Nanotubes (CNT) • Conductive Polymers (CP) • ElectroRheological Fluids (ERF) • Ionic Polymer Gels (IPG) • Ionic Polymer Metallic Composite (IPMC) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

8. Basic Working Principle • Dielectric EAP Components • Electronic Driver (high voltage DC transformer) • Electroding Material • Conductive carbon grease • Polymer Material • Acrylic adhesive tape Recipe from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/EAP-recipe.htm ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

9. Basic Working Principle • Dielectric EAP actuator deactivates when the voltage source is removed as shown on the left. • Activated dielectric EAP actuator is shown on the right when the voltage source is applied. Image from: http://www.empa.ch/plugin/template/empa/*/56570/---/l=1 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

10. Basic Working Principle • Ionic EAP Material Example • Monomer: Pyrrole • Base polymer: poly • Lithium Perchlorate • Acetonitrile HPLC grade • Tetrahydrofuran HPLC grade • Deionized water • Electrodes: Polished stainless steel plates Recipe from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/Polypyrrole-PrepProcedure.htm ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

11. Basic Working Principle • Ionic EAP outline of movement when activated by an electric current. • Chemical make-up is important in providing enough electron movement to move the actuator. Image from: http://www.electrochem.org/meetings/scheduler/abstracts/214/0117.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

12. Application Notes Image from: http://www.empa.ch/plugin/template/empa/*/56570/---/l=1 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

13. Application Notes • Shell-like actuators may be used to generate specific interaction between structure and environment. • Possible uses as stated by EMPA • Ropeway Gondolas • Active Blimp • Aerospace Propulsion ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

14. Application Notes • EAP actuators have been challenged to arm wrestling a human to progress the development and application of EAP actuators in the medical area. • EAP actuator researchers want to one day make arm and leg prosthetics for humans. Image from: http://eap.jpl.nasa.gov/ ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

15. Application Notes • Comparison between a human muscle and an EAP actuator. Image from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/PPY-v-2004-03-Perfromance-MIT.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

16. Major Specifications • Free strain • Blocked force • Specific work output • Activation cycles ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

17. Advantages • Electronic EAP • Millisecond responses • Hold strain under DC activation • Induce large actuation forces • Large mechanical energy density • Long run times at room temperature • Bend, stretch, or contract • No power to keep actuator at a given position ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

18. Advantages • Ionic EAP • Bi-directional actuation naturally • Low voltage operation • 1 or 2 volts • Some have bi-stability capabilities • Bend, stretch, or contract ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

19. Limitations • Electronic EAP • Requires high voltages to operate (~100 MV/meter) • Is being improved upon and in some cases down to 20 MV/meter • Independent of voltage polarity • Low commercial avaliablity ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

20. Limitations • Ionic EAP • Requires electrolyte • Must have protective layer in open air • Low electromechanical coupling • Most do not hold strain under DC voltage • Slow response times • Can induce low actuation force • Low commercial avaliablity ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators