Ionic Polymer-Metal Composites: Evolution, Application and Future Directions

Cover
Half Title
Title Page
Copyright Page
Table of Contents
Preface
Acknowledgments
Biography
Contributors
Chapter 1 Introduction to IPMC, Its Application and Present Scenario
	1.1 Introduction
	1.2 Literature Survey
		1.2.1 Electrical Characterization of IPMC
		1.2.2 Control Issues of IPMC
		1.2.3 IPMC Grippers
		1.2.4 Compliant Materials for Microgripper
		1.2.5 IPMC Applications in Space
	1.3 Summary
	References
Chapter 2 Ionic Polymer– Metal Composite Actuators: Methods of Preparation
	2.1 Introduction
	2.2 Actuation Mechanism
	2.3 Literature Review
		2.3.1 Fabrication Techniques
		2.3.2 Chemical Decomposition Method
		2.3.3 Mechanical Plating Method
	2.4 Methodology
		2.4.1 Fabrication of Single- Layered Ag- IPMC
		2.4.2 Fabrication of Multilayered Ag- IPMC
	2.5 Result Discussion
		2.5.1 Characterization of Ag-IPMC
			2.5.1.1 Morphological and Microstructure Analysis
			2.5.1.2 Bending Characteristics of the Fabricated Ag-IPMC
	2.6 Conclusions
	References
Chapter 3 A Study of Movement, Structural Stability, and Electrical Performance of a Harvesting System Based on Ionic Polymer– Metal Composites
	3.1 Introduction
	3.2 Modeling of the IPMC Movement and Ocean Wave Kinetic Energy
		3.2.1 Modeling of the Relationship between the Input Bending Angle and the Output Voltage
		3.2.2 Fabrication of IPMC
		3.2.3 Ocean Environmental Conditions
		3.2.4 Simulation and Experimental Setup
	3.3 Results and Discussion
		3.3.1 The Pressure and Motion Results
		3.3.2 Effect of Wave Direction and Frequency on the Movement of the Modules
		3.3.3 Effect of the Wetted Surface Area and Mass on the Movement of the Modules
		3.3.4 Performance Test of the Ocean Kinetic Energy-Harvesting Modules
	3.4 Conclusions
	References
Chapter 4 Application of Ionic Polymer Metal Composite (IPMC) as Soft Actuators in Robotics and Bio-Mimetics
	4.1 Introduction
	4.2 Past Literature Survey on the Development of IPMC Actuators, Modeling, Control and Various Robotic and Biomimetic Applications
	4.3 Development of Single- Walled Carbon Nanotube ( SWNT)- Based IPMC Soft Actuators
		4.3.1 Material Requirements
			4.3.1.1 Materials
			4.3.1.2 Reagent Solutions
			4.3.1.3 Functionalization of SWNTs
			4.3.1.4 Sulfonation of PEES
		4.3.2 Fabrication of IPMCs
		4.3.3 Characterization
			4.3.3.1 Ionic Conductivity
			4.3.3.2 WU, IEC and PC
			4.3.3.3 FTIR Study
			4.3.3.4 Tensile Strength
			4.3.3.5 SEM, EDX and TEM Studies
			4.3.3.6 Porosity
			4.3.3.7 UV– Visible Studies
			4.3.3.8 Thermal Analysis
			4.3.3.9 Electrochemical Characterization
			4.3.3.10 Electromechanical Characterization
	4.4 Development of IPMC Soft Actuator- Based Robotic System for Robotics Assembly
		4.4.1 IPMC-Based Microgripper for Remote Center Compliance ( RCC) Assembly
		4.4.2 An IPMC- Based Two-Finger Microgripper for Handling Millimeter- Scale Components
		4.4.3 An IPMC- Based Artificial Muscle Finger Actuated through EMG
		4.4.4 Robotic Micro- Assembly Using IPMC Microgrippers
	4.5 Conclusions
	Acknowledgment
	References
Chapter 5 Inverse Kinematic Modeling of Bending Response of Ionic Polymer Metal Composite Actuators
	5.1 Introduction
	5.2 Soft Robotic Materials: Research Status and Current Trends
	5.3 Simulating Soft Actuators: A Robotic Perspective
		5.3.1 Early Developmental Efforts and Modelling Challenges
		5.3.2 Hyper-Redundant Serial Chain Approximation of Soft Robotic Actuators
		5.3.3 The Jacobian Transpose and Pseudo- Inverse Solution to Inverse Kinematics
		5.3.4 ‘ Tractrix’- Based Solution to Inverse Kinematics
			5.3.4.1 Experimental Validation by Simulating Doped IPMC Actuators
	5.4 Design and Development of Compliant Soft Actuated Grippers: An Application of Hyper- Redundant Kinematic Modelling
	5.5 Conclusions and Future Prospects
	Acknowledgements
	References
Chapter 6 Selection of Elastomer for Compliant Robotic Gripper Harnessed with IPMC Actuator
	6.1 Introduction
	6.2 Multi-Criteria Decision Making ( MCDM) Problem Formulation
	6.3 Technique for Order of Preference by Similarity to Ideal Solution
	6.4 Complex Proportional Assessment
	6.5 Multi- Objective Optimization on the Basis of Ratio Analysis
	6.6 ELECTRE II
	6.7 Determination of Entropy Weight
	6.8 Spearman’s Rank Correlation Coefficient
	6.9 Criteria for Compliant Material Selection
		6.9.1 Hardness
		6.9.2 Density
		6.9.3 Tensile Strength
		6.9.4 Elongation at Break
		6.9.5 Cost
	6.10 Compliant Materials
		6.10.1 Ethylene– Propylene Diene Monomer ( EPDM)
		6.10.2 Ethylene– Vinyl Acetate ( EVA)
		6.10.3 Ethylene– Propylene Monomer ( EPM)
		6.10.4 Polydimethylsiloxane ( PDMS)
		6.10.5 Polyurethane ( PU)
		6.10.6 Ethylene– Propylene Terpolymer (EPT)
		6.10.7 Polyvinylidene Fluoride ( PDVF)
	6.11 Results
		6.11.1 Weight Determination by Entropy Method
		6.11.2 Solution by TOPSIS
		6.11.3 Solution by COPRAS
		6.11.4 Solution by MOORA
		6.11.5 Solution by ELECTRE II
	6.12 Discussion
	6.13 Conclusions
	References
Chapter 7 Study of Polar Region Atmospheric Electric Field Impact on Human Beings and the Potential Solution by IPMC
	7.1 Introduction
	7.2 Atmospheric Electric Field in Polar Regions: Global Electric Circuit
	7.3 Generation of Air– Earth Current ( Maxwell Current)
	7.4 Diurnal Variation of Fair- Weather Atmospheric Electric Field, Conductivity and Air– Earth Current Density in Polar Regions
		7.4.1 Atmospheric Electric Field Measurement
		7.4.2 Point Discharge Current: Impact on Polar Vertical Air– Earth Current Density
	7.5 Environmental Electrostatic Field and Air Ions ( Generation of Earth’s Vertical Electric Field)
	7.6 Effects of Human Body Electrostatic Generation in Context with Polar Regions
	7.7 Energy Harvesting from Human Body Electrostatic Discharge
	7.8 Investigation into Electroactive Polymer ( EAP)- Based Technologies for Human Body Static Nullification in Polar Regions
		7.8.1 Selectivity Criteria and Comparison of Different EAP Materials
		7.8.2 Ionic Polymer– Metal Composites ( IPMCs): General Fabrication Process
			7.8.2.1 Physical Metal Loading
			7.8.2.2 Casting Method
			7.8.2.3 Hot Pressing Method
			7.8.2.4 Electrodes Plating Method
			7.8.2.5 Fabrication Method Using Silver Nanopowders
		7.8.3 Dynamic Modelling of IPMC Actuator
			7.8.3.1 Generalized Study on Electrical and Mechanical Parameters of IPMC
			7.8.3.2 Comparison between Active Sensing, Passive Sensing and Self- Sensing Actuation ( SSA)
			7.8.3.3 Performance of IPMC Sensors
	7.9 The Proposed IPMC- Based Methodology ( Wearable Electronic Device Prototype Design)
	7.10 Discussion and Conclusions
	References
Chapter 8 Future Directions on IPMC Research
	8.1 Introduction
	8.2 Future Research Objectives and Methodology
		8.2.1 Study of the Characteristics of IPMC
		8.2.2 IPMC Sensor Parameters Study
		8.2.3 Mechatronics Applications of IPMC with Different Shape of Object Grasp Capability by Human Finger
		8.2.4 Design and Development of IPMC Analogous to EMG Sensors for Biomedical Applications
		8.2.5 Design and Development of IPMC- Based Taste Sensors
		8.2.6 Bioinstrumentation Applications of IPMC for Moisture Capturing Capability in Space
		8.2.7 3D Printing of IPMC
	8.3 Summary
	References
Index