1. Assignment#01: Literature Survey on Sensors and Actuators ECE5320 Mechatronics Assignment#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. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-2 Outline –Reference list –To probe further –Major applications –Basic working principle illustrated –Application notes –Major specifications –Advantages –Limitations

3. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-3 Reference list Bar-Cohen, Yoseph, ‘Electroactive Polymers (EAP)’, http://electrochem.cwru.edu/ed/encycl/art-p02- elact-pol.htm 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 http://ndeaa.jpl.nasa.gov/nasa- nde/lommas/eap/EAP-recipe.htm EMPA, http://www.empa.ch/plugin/template/empa/*/565 70/---/l=1 http://www.empa.ch/plugin/template/empa/*/565 70/---/l=1

4. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-4 To explore further (survival pointers of web references etc) Bar-Cohen, Yoseph, http://eap.jpl.nasa.gov/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.htmhttp://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_polym ers http://en.wikipedia.org/wiki/Electroactive_polym ers

5. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-5 Major applications Artificial Muscles Robotics Auto focus for mobile phones Artificial Eyelid Braille Cells Force feedback device

6. EAP Actuators EAP are divided into two major groups: Electronic EAP –Dielectric EAP –Electrostrictive Graft Elastomers –Electrostrictive Paper –Electro-Viscoelastic Elastomers –Ferroelectric Polymers 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-6

7. EAP Actuators Ionic EAP –Carbon Nanotubes (CNT) –Conductive Polymers (CP) –ElectroRheological Fluids (ERF) –Ionic Polymer Gels (IPG) –Ionic Polymer Metallic Composite (IPMC) 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-7

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 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-8

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. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-9 Image from: http://www.empa.ch/plugin/template/empa/*/56570/---/l=1

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 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-10

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. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-11 Image from: http://www.electrochem.org/meetings/scheduler/abstracts/214/0117.pdf

12. Application Notes 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-12 Image from: http://www.empa.ch/plugin/template/empa/*/56570/---/l=1

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 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-13

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. 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-14 Image from: http://eap.jpl.nasa.gov/

15. Application Notes 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-15 Image from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/PPY-v-2004-03-Perfromance-MIT.pdf Comparison between a human muscle and an EAP actuator.

16. Major Specifications Free strain Blocked force Specific work output Activation cycles 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-16

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 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-17

18. Advantages Ionic EAP –Bi-directional actuation naturally –Low voltage operation 1 or 2 volts –Some have bi-stability capabilities –Bend, stretch, or contract 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-18

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 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-19

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 5/20/2015 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators Slide-20