Modeling and control of ionic polymer-metal composite actuators for mechatronics applications

This chapter presents the full design process through to the implementation of two innovative mechatronic devices: a stepper motor and a robotic rotary joint both with integrated soft IPMC actuators. Firstly, electromechanical modeling of the IPMC actuation response is presented. This model is then used as a tool for the mechanical design of the devices. Novel implementation of control systems to adaptively handle the highly nonlinear and time-varying response of the IPMCs and achieve successful device performance is undertaken. Experimental results are presented to validate the designs for the systems. This work demonstrates the capabilities of IPMCs and the benefits of implementing them as valid alternatives to traditional actuators.