Experimental study and electromechanical model analysis of the nonlinear deformation behavior of IPMC actuators

This paper develops analytical electromechanical formulas to predict the mechanical deformation of ionic polymer–metal composite(IPMC) cantilever actuators under DC excitation voltages. In this research, IPMC samples with Pt and Ag electrodes were manufactured, and the large nonlinear deformation and the effect of curvature on surface electrode resistance of the IPMC samples were investigated experimentally and theoretically. A distributed electrical model was modified for calculating the distribution of voltage along the bending actuator. Then an irreversible thermodynamic model that could predict the curvature of a unit part of an IPMC actuator is combined with the electrical model so that an analytical electromechanical model is developed. The electromechanical model is then validated against the experimental results obtained from Pt-and Ag-IPMC actuators under various excitation voltages. The good agreement between the electromechanical model and the actuators shows that the analytical electromechanical model can accurately describe the large nonlinear quasi-static deflection behavior of IPMC actuators.     

MODELING CONTACTS OF IONIC POLYMER METAL COMPOSITES BASED TACTILE SENSORS

We report the first attempt to model the contacts of an ionic polymer metal composite（IPMC） based tactile sensor. The tactile sensor comprises an IPMC actuator, an IPMC sensor and the target to be detected. The system makes use of multiple contacts to work： the actuator comes into contact with the sensor and pushes the movement of sensor; the contact between the sensor and the object detects the existence and the stiffness of the target. We integrate modeling of various physical processes involved in IPMC devices to form a simulation scheme. An iteration and optimization strategy is also described to correlate the experimental and simulation results of an IPMC bending actuator to identify the two key parameters used in electromechanical transduction. Modeling the multiple contacts will aid the design and optimization of such IPMC based soft robotics.     

“Equivalent” Electromechanical Coefficient for IPMC Actuator Design Based on Equivalent Bimorph Beam Theory

This paper addresses an “equivalent” electromechanical coupling coefficient that may be used in designing Ionic Polymer Metal Composite (IPMC) actuators. The coefficient is not a material constant and derived from equivalent bimorph beam model. The collective effect of the membrane thickness and operating voltage on the coefficient is demonstrated by using a design of experiment (DOE) of three and five levels of the two factors, respectively. Experiments and linear finite element analyses with MD.NASTRAN at DOE points are performed. The tip displacement and the coupling coefficient are reported and their response surface (RS) approximations as function of the thickness and voltage are constructed. Experiments and RS predictions indicate that actuator thickness and applied voltage are two interacting major factors for maximum tip displacement. The equivalent coupling coefficient is primarily driven by the thickness of actuator moreover voltage appears to contribute as the thickness increases. The initial curvature of the strips before electrical excitation is also shown to be a factor for “equivalent” coupling coefficient, it is not, however sufficient to explain the variation in the experimental data. A correction factor approach is proposed and applied to the straight beam tip displacement RS that filters out experimental variation. A corrected RS enables including the pre-imposed initial curvature as design parameter along with the actuator thickness and the operating peak voltage when predicting the tip displacement and the equivalent coupling coefficient.     

人工肌肉作动器的参数优化设计

由于电活性聚合物材料在电场作用下所表现出的许多优异的力学性能,如大应变、响应快、能量转换率高等特点,使得这种高分子智能材料引起了广泛关注,有望被加工成作动器、传感器及俘能器等能量转换器,在工程应用中发挥巨大作用。 但是,由于描述电活性聚合物材料变形的状态方程的非线性性,及其在力电载荷作用下多种失效模式的存在,使得设计电活性聚合物能量转换器面临诸多的困难。本文针对美国人工肌肉公司(Artificial Muscle Inc.)开发的一款电活性聚合物薄膜作动器的优化设计开展研究,主要研究了不同初始预拉伸对薄膜厚度、拉伸变形、应力及电场强度等的影响效应,结果表明,在某一预拉伸下,薄膜中的电场分布将趋于均匀。本文所提供的研究方法,可为此类作动器的优化设计提供基本的分析模式。     

A mathematical model for cylindrical,fiber reinforced electro-pneumatic actuators

In recent years, dielectric elastomers have received increasing attention due to their unparalleled large strain actuation response (>100%). The force output, however, has remained a major limiting factor for many applications. To address this limitation, a model for a fiber reinforced dielectric elastomer actuator based on the deformation mechanism of McKibben actuators is presented. In this novel configuration, the outer cylindrical surface of a dielectric elastomer is enclosed by a network of helical fibers that are thin, flexible and inextensible. This configuration yields an axially contractile actuator, in contrast to unreinforced actuators which extend. The role of the fiber network is twofold: (i) to serve as reinforcement to improve the load-bearing capability of dielectric elastomers, and (ii) to render the actuator inextensible in the axial direction such that the only free deformation path is simultaneous radial expansion and axial contraction. In this paper, a mathematical model of the electromechanical response of fiber reinforced dielectric elastomers is derived. The model is developed within a continuum mechanics framework for large deformations. The cylindrical electro-pneumatic actuator is modeled by adapting Green and Adkins’ theory of reinforced cylinders to account for the applied electric field. Using this approach, numerical solutions are obtained assuming a Mooney–Rivlin material model. The results indicate that the relationship between the contractile force and axial shortening is bilinear within the voltage range considered. The characteristic response as a function of various system parameters such as the fiber angle, inflation pressure, and the applied voltage are reported. In this paper, the elastic portion of the modeling approach is validated using experimental data for McKibben actuators.     

Nonlinear sensing of ionic polymer metal composites

In this paper, we develop a physics-based model for the charge dynamics of ionic polymer metal composites (IPMCs) in response to mechanical deformations. The proposed chemoelectromechanical model is based on the Poisson–Nernst–Planck system that describes the evolution of the voltage field and the counterion concentration as a dynamic strain is imposed to the IPMC. We use the method of matched asymptotic expansions to find a closed form solution for the Poisson–Nernst–Planck equations and derive an equivalent nonlinear circuit model that is amenable for parametric studies. We report results for a variety of loading scenarios to gather insight into the nonlinear characteristics of IPMC electrical response and their potential application in sensors and energy harvesting devices.     

离子交换膜金属复合材料力－电耦合变形数值模拟

本文基于电场-化学场-机械场耦合作用机理,采用数值模拟方法,研究离子交换膜金属复合材料(Ionic Polymer Metal Composites 简称IPMCs)宏观变形的细观机理。借用大型商业有限元软件ANSYS开发平台,结合MATLAB编制用户子程序,制定了数值分析流程,给出了典型IPMC悬臂梁宏观挠曲变形结果。文章重点研究了IPMC板迭层结构的输出力效率、金属电极层的厚度最佳值和非均匀挠曲变形细观机理的宏观分析方法,计算结果与实验比较以显示数值方法的正确性。文章的研究结果对材料工作者合理的制作IPMC致动器产品,具有理论指导意义。     

Dynamic response of tubular dielectric elastomer transducers

In this paper, a numerical model for the dynamic response of tubular dielectric elastomer transducers is presented and validated with experimental results for the first time. Dielectric elastomers (DE) are soft polymer based smart materials that can be potentially employed in applications such as actuation, sensing and energy harvesting (Kornbluh, 2004, Carpi et al., 2005, Waki et al., 2008). In our previous work, the quasi-static response of tubular DE transducers was studied (Goulbourne et al., 2007, Son and Goulbourne, 2009). Here, a numerical model is developed to predict the dynamic response of tubular DE transducers. Inertia effects are included in our previous static model which yields a system of partial differential equations. The results of the dynamic response of the tubular DE transducers are obtained by numerically solving the simplified partial different equations using a finite difference scheme. The capacitance change induced by the dynamic deformation of the tubular DE is also calculated by a simple electrostatic model, illustrating dynamic passive sensing.Several tubular DE transducer samples (VHB 4905 and silicone) were fabricated and an experimental setup was developed to investigate the dynamic response by measuring capacitance and radial deformation. In the sensing experiments, a sweep of dynamic pressure profiles (0–5 Hz) are applied. It is observed that silicone transducers have a larger dynamic sensing range. In the actuation experiments, the deformation of the silicone actuator is monitored while a voltage signal (4.5 kV) is applied from 0 to 30 Hz. The silicone actuator shows a good actuation response. The comparison between numerical and experimental results for the DE transducers shows an overall error of 3%.     

Mechanics of mechanochemically responsive elastomers

Mechanochemically responsive (MCR) polymers have been synthesized by incorporating mechanophores – molecules whose chemical reactions are triggered by mechanical force – into conventional polymer networks. Deformation of the MCR polymers applies force on the mechanophores and triggers their reactions, which manifest as phenomena such as changing colors, varying fluorescence and releasing molecules. While the activation of most existing MCR polymers requires irreversible plastic deformation or fracture of the polymers, we covalently coupled mechanophores into the backbone chains of elastomer networks, achieving MCR elastomers that can be repeatedly activated over multiple cycles of large and reversible deformations. This paper reports a microphysical model of MCR elastomers, which quantitatively captures the interplay between the macroscopic deformation of the MCR elastomers and the reversible activation of mechanophores on polymer chains with non-uniform lengths. Our model consistently predicts both the stress–strain behaviors and the color or fluorescence variation of the MCR elastomers under large deformations. We quantitatively explain that MCR elastomers with time-independent stress–strain behaviors can give time-dependent variation of color or fluorescence due to the kinetics of mechanophore activation and that MCR elastomers with different chain-length distributions can exhibit similar stress–strain behaviors but very different colors or fluorescence. Implementing the model into ABAQUS subroutine further demonstrates our model's capability in guiding the design of MCR elastomeric devices for applications such as large-strain imaging and color and fluorescence displays.     

Electro-viscoelastic behaviors of circular dielectric elastomer membrane actuator containing concentric rigid inclusion

The time-dependent electro-viscoelastic performance of a circular dielectric elastomer (DE) membrane actuator containing an inclusion is investigated in the context of the nonlinear theory for viscoelastic dielectrics. The membrane, a key part of the actuator, is centrally attached to a rigid inclusion of the radius a, and then connected to a fixed rigid ring of the radius b. When subject to a pressure and a voltage, the membrane inflates into an out-of-plane shape and undergoes an inhomogeneous large deformation. The governing equations for the large deformation are derived by means of non-equilibrium thermodynamics, and viscoelasticity of the membrane is characterized by a rheological spring-dashpot model. In the simulation, effects of the pressure, the voltage, and design parameters on the electromechanical viscoelastic behaviors of the membrane are investigated. Evolutions of the considered variables and profiles of the deformed membrane are obtained numerically and illustrated graphically. The results show that electromechanical loadings and design parameters significantly influence the electro-viscoelastic behaviors of the membrane. The design parameters can be tailored to improve the performance of the membrane. The approach may provide guidelines in designing and optimizing such DE devices.     

煤层气在非饱和水流阶段的非定常渗流摄动解

煤层甲烷由煤层的割理裂隙系统流入生产井一般经历：单相水流、非饱和流和气、水两相饱和流三个阶段，在非饱和流阶段，储层压力降至临界解吸压力之后，储存在煤基质中的吸附气体少量被解吸出来形成互不连续的气泡并阻止水的流动，含气量尚未达到饱和程度。同时煤层甲烷运移包含渗流场、变形场和应力场的动态耦合过程。本文考虑渗流过程中水-气两相不溶混流体与固体耦合作用，建立了非饱和水流阶段非定常渗流问题的流固耦合数学模型，对该强非线性一维数学模型采用摄动法和积分变换法进行解析求解，并讨论了其压力动态特性，分析了压力随饱和度S及时间t变化的规律和气相及耦合作用的影响，这些研究对煤层气、石油和天然气的开采等地下工程领域具有一定的指导意义。     

A physically-based constitutive model for anisotropic damage in rubber-toughened glassy polymers during finite deformation

The present work focuses on the development of a physically-based model for large deformation stress-strain response and anisotropic damage in rubber-toughened glassy polymers. The main features leading to a microstructural evolution (regarding cavitation, void aspect ratio, matrix plastic anisotropy and rubbery phase deformation) in rubber-toughened glassy polymers are introduced in the proposed constitutive model. The constitutive response of the glassy polymer matrix is modelled using the hyperelastic-viscoplastic model of [Boyce et al., 1988] and [Boyce et al., 2000]. The deformation mechanisms of the matrix material are accounted for by two resistances: an elastic-viscoplastic isotropic intermolecular resistance acting in parallel with a visco-hyperelastic anisotropic network resistance, each resistance being modified to account for damage effects by void growth with a variation of the void aspect ratio. The effective contribution of the hyperelastic particles to the overall composite behaviour is taken into account by treating the overall system in a composite scheme framework. The capabilities of the proposed constitutive model are checked by comparing experimental data with numerical simulations. The deformation behaviour of rubber-toughened poly(methyl methacrylate) was investigated experimentally in tension at a temperature of 80 °C and for different constant true strain rates monitored by a video-controlled technique. The reinforcing phase is of the soft core-hard shell type and its diameter is of the order of one hundred nanometers. The particle volume fraction was adjusted from 15% to 45% by increments of 5%. The stress-strain response and the inelastic volumetric strain are found to depend markedly on particle volume fraction. For a wide range of rubber volume fractions, the model simulations are in good agreement with the experimental results. Finally, a parametric analysis demonstrates the importance of accounting for void shape, matrix plastic anisotropy and rubber content.     

PBX材料蠕变性能的云纹干涉法实验研究

本文利用云纹干涉法对PBX材料蠕变行为进行了研究。实验中采用圆盘试件进行压缩实验。利用圆盘对径受压实验间接拉伸的特点,测量了PBX材料的拉伸蠕变及蠕变恢复曲线,同时也得到了圆盘部分区域压缩蠕变及蠕变恢复曲线。实验中,观察到蠕变的阶段上升现象,这一现象不同于一般的纯的高聚物的蠕变变形。并针对这一蠕变现象利用破坏力学理论进行了初步分析。文中的实验现象及实验数据将为PBX材料蠕变破坏变形的进一步的理论分析提供科学依据。     

Finite element method for coupled diffusion-deformation theory in polymeric gel based on slip-link model

A polymeric gel is an aggregate of polymers and solvent molecules, which can retain its shape after a large deformation. The deformation behavior of polymeric gels was often described based on the Flory-Rehner free energy function without considering the influence of chain entanglements on the mechanical behavior of gels. In this paper, a new hybrid free energy function for gels is formulated by combining the Edwards-Vilgis slip-link model and the Flory-Huggins mixing model to quantify the time-dependent concurrent process of large deformation and mass transport. The finite element method is developed to analyze examples of swelling-induced deformation. Simulation results are compared with available experimental data and show good agreement. The influence of entanglements on the time-dependent deformation behavior of gels is also demonstrated. The study of large deformation kinetics of polymeric gel is useful for diverse applications.     

The influence of matrix viscoelasticity on the rheology of polymer blends

We examine the effects of matrix phase viscoelasticity on the rheological modeling of polymer blends with a droplet morphology. Two contravariant, second-rank tensor variables are adopted along with the translational momentum density of the fluid to account for viscoelasticity of the matrix phase and the ellipsoidal droplet shapes. The first microstructural variable is a conformation tensor describing the average extension and orientation of the molecules in the matrix phase. The other microstructural variable is a configuration tensor to account for the average shape and orientation of constant-volume droplets. A Hamiltonian framework of non-equilibrium thermodynamics is then adopted to derive a set of continuum equations for the system variables. This set of equations accounts for local conformational changes of the matrix molecules due to droplet deformation and vice versa. The model is intended for dilute blends of both oblate and prolate droplets, and droplet breakup and coalescence are not taken into account. Only the matrix phase is considered as viscoelastic; i.e., the droplets are assumed to be Newtonian. The model equations are solved for various types of homogeneous deformations, and microstructure/rheology relationships are discussed for transient and steady-state conditions. A comparison with other constrained-volume rheological models and experimental data is made as well.     

Determination of the constants of electrochemical reactions and the ion mobility coefficients in weakly conducting liquids from an analysis of the current—voltage characteristics

The problem is considered of the passage of a direct current through a solution of a weak electrolyte in a two-dimensional cell. Allowance is made for the electrochemical reactions of dissociation and reconbination which take place in the electrolyte when the rate of dissociation of the molecules is regarded as dependent on the electric field intensity [1–3]. For electrolytes whose recombination coefficient is of the order of magnitude of the Langevin coefficient, theoretical current—voltage characteristics are given for the limiting cases of large and small values of the characteristic times for the ion concentrations to be changed by electrochemical reactions and the transport of ions by the electric field. A method of determining the dissociation rate, the recombination coefficient, and the ion mobility coefficients is proposed on the basis of comparison of the theoretical and experimental current—voltage characteristics.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 6. pp. 113–120, November–December, 1984.     

Control of mechanical deformation of a laminate by piezoelectric actuator taking into account the transverse shear

Summary The control of dynamic deformation of a laminate plate is conducted by applying electrical load to a piezoelectric actuator integrated into the laminate. The dynamic behavior of the laminate is analyzed in the paper taking into account the effect of transverse shear. The analytical model of the laminate is composed of fiber-reinforced laminae and piezoelectric layers constituting a symmetric cross-ply laminate rectangular plate with simply-supported egdes. It is subjected to mechanical and electrical loads acting on the piezoelectric actuator in order to compensate the effect of the mechanical loads. The behavior of the laminate is analyzed based on the first-order shear deformation theory. Closed-form solutions are obtained for the following quantities: (1) natural frequencies of the laminate plate, (2) weight functions for the deflections and rotations and (3) transient deflections due to loads varying arbitrarily with time. Illustrative examples are shown for the control of deflections caused by the mechanical loads by means of electrical voltage applied to the piezoelectric actuators.     

Kinetics of smart hydrogels responding to electric field: A transient deformation analysis

A multiphysics model is presented in this paper for simulation of kinetics of the smart hydrogels subject to an externally applied electric field, especially for analysis of the transient deformation of the hydrogel. The model termed the multi-effect-coupling electric stimulus (MECe) takes account of the coupled chemo-electro-mechanical multiphysics domains and the multi-phase effect of polymeric network and interstitial liquid as well as ionic species. The MECe model is validated well by transient simulation and comparison with available experimental data. Kinetics of ionic concentration of diffusive species is simulated. Parameter studies on the hydrogel displacement are conducted in detail for influences of externally applied electric voltage, initially fixed-charge density and surrounding bath solution concentration.     

Modelling of photodegradation effect on elastic-viscoplastic behaviour of amorphous polylactic acid films

Polylactic acid (PLA) films were subjected to accelerated ultra-violet (UV) ageing. The UV irradiation leads to the alteration of the chemical structure which influences directly the mechanical response of the polymer. The chemical modification of the polymer was followed by gel permeation chromatography. Uniaxial tension tests were conducted at 50 °C and for different strain rates in order to characterize the large deformation response of PLA. The influence of UV irradiation on the alteration of the large deformation response of PLA was examined. A physically based elastic-viscoplastic model was used to describe the mechanical response of virgin PLA. The photodegradation effect was incorporated into the constitutive model to capture the stress-strain behaviour up to failure of aged PLA. To that end, the measured molecular weight was used as a direct input into the model. The model is shown to be in good agreement with experimental results over a wide range of UV irradiation doses.     

感性材料与结构分析的基本模型

感性材料是一类基于植物仿生思想,利用化学能产生机械能的高能量密度智能材料.与植物感性运动类似,感性材料能够运用细胞半透膜,有选择、可控地将物质传输到体内产生定向变形.感性材料由基体材料中夹杂液体腔组成,液体腔周围有一层包含离子传输通道(离子泵、离子通道、离子协运机制等)的人工合成细胞膜.本文对感性材料的基本建模过程进行描述,建立了多感性驱动单元与结构相互作用的分析模型,并给出了计算结果.在感性单胞层次,通过对细胞膜离子传输过程以及结构力学模型进行耦合计算,再现感性运动中离子传输和基体结构的力学响应情况;通过改变各初始输入参数,研究不同参数对感性材料变形和响应过程的影响.