Sharif Digital Repository

In this paper application of Ionic Polymer Metal Composite (IPMC) as actuator in a deformable ring capable of locomotion is studied. Such a deformable ring moves as a result of gravitational force acting on its body when its shape changes. It can be used in exploration, search and rescue missions in future, where using conventional robots with rigid bodies and actuators is impossible. Large deformation induced by small stimulating voltage, low stiffness the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application. In this work first a model for IPMC is introduce that can be used in simulating deformation of IPMC in different... 

In most of the microfluidic applications, it is necessary to have a mixed fluid from the beginning, but in microchannels, due to facing with low Reynolds flows, the fluids flow in the channel by the laminar regimes. Hence the mixing process is a challenging problem and researchers are trying to present fast and reliable micromixers. In this paper, using Ionic Polymer-Metal Composites (IPMCs), an active micromixer has been designed. To investigate the appropriateness of IPMC, using experimental and simulation tests, we show that the IPMC actuator is a potential candidate as an active element of microfluidic micromixers  

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in... 

In this paper application of Ionic Polymer Metal Composite (IPMC) as actuator in a deformable ring capable of locomotion is studied. Such a deformable ring moves as a result of gravitational force acting on its body when its shape changes. It can be used in exploration, search and rescue missions in future, where using conventional robots with rigid bodies and actuators is impossible. Large deformation induced by small stimulating voltage, low stiffness the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application. In this work first a model for IPMC is introduce that can be used in simulating deformation of IPMC in different... 

Electroactive-Polymers (EAPs) are one of the best soft $mu $ -actuators with great biomedical applications. Ionic ones (i-EAPs) have more promising features and have adequate potential for using in the active microfluidic devices. Here, as a case study, we have designed and fabricated a microfluidic micromixer using an i-EAP named Ionic Polymer-Metal Composite (IPMC). In microfluidics, active devices have more functionality but due to their required facilities are less effective for Point of Care Tests (POCTs). In the direction of solving this paradox, we should use some active components that they need minimum facilities. IPMC can be one of these components, hence by integrating the IPMC... 

Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, in compact robotic systems, new actuator technologies are required. Ionic Polymer-Metal Composites (IPMCs) are attractive electroactivc polymer actuators because of their characteristics of large electrically induced bending, mechanical flexibility, low excitation voltage, low density, and ease of fabrication. A dynamic analytical model of IPMC is developed in this study. An RC model is employed based on time response results of a typical silver deposited IPMC. Results show that the electrical model is a suitable presentation of IPMC actuators. The model is tested with two experimental data of IPMC... 

The respiratory system is a vital organ system which makes breathing and gas exchange possible for human's body. The loss of functionality in this system is due to either genetical problems or environmental issues like pollution or toxic gases which in many cases is inevitable. These circumstances may cause different respiratory diseases which may not be curable presently but their side effects can be partly controlled by careful and timely analysis improving the quality of patient's life. So, an appropriate device for conducting different analysis can be effective for people who suffer from respiratory diseases such as chronic obstructive pulmonary disease (COPD), asthma, occupational lung...