Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation
Ionic polymer-metal composites (IPMCs) are electrically driven materials that undergo bending deformations in the presence of relatively low external voltages, exhibiting a great potential as actuators in applications in soft robotics, microrobotics, and bioengineering, among others. This paper pres...
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MDPI AG
2022-05-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/15/6/181 |
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| author | José Emilio Traver Cristina Nuevo-Gallardo Paloma Rodríguez Inés Tejado Blas M. Vinagre |
| author_facet | José Emilio Traver Cristina Nuevo-Gallardo Paloma Rodríguez Inés Tejado Blas M. Vinagre |
| author_sort | José Emilio Traver |
| collection | DOAJ |
| description | Ionic polymer-metal composites (IPMCs) are electrically driven materials that undergo bending deformations in the presence of relatively low external voltages, exhibiting a great potential as actuators in applications in soft robotics, microrobotics, and bioengineering, among others. This paper presents an artificial eukaryotic flagellum (AEF) swimming robot made up of IPMC segments for the study of planar wave generation for robot propulsion by single and distributed actuation, i.e., considering the first flagellum link as an actuator or all of them, respectively. The robot comprises three independent and electrically isolated actuators, manufactured over the same 10 mm long IPMC sheet. For control purposes, a dynamic model of the robot is firstly obtained through its frequency response, acquired by experimentally measuring the flagellum tip deflection thanks to an optical laser meter. In particular, two structures are considered for such a model, consisting of a non-integer order integrator in series with a resonant system of both non-integer and integer order. Secondly, the identified models are analyzed and it is concluded that the tip displacement of each actuator or any IPMC point is characterized by the same dynamics, which remains unchanged through the link with mere variations of the gain for low-frequency applications. Based on these results, a controller robust to gain variations is tuned to control link deflection regardless of link length and enabling the implementation of a distributed actuation with the same controller design. Finally, the deflection of each link is analyzed to determine whether an AEF swimming robot based on IPMC is capable of generating a planar wave motion by distributed actuation. |
| first_indexed | 2024-03-10T00:38:28Z |
| format | Article |
| id | doaj.art-8ecafa8180eb47aaa6fbb6f4a73d699a |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-10T00:38:28Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-8ecafa8180eb47aaa6fbb6f4a73d699a2023-11-23T15:12:53ZengMDPI AGAlgorithms1999-48932022-05-0115618110.3390/a15060181Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed ActuationJosé Emilio Traver0Cristina Nuevo-Gallardo1Paloma Rodríguez2Inés Tejado3Blas M. Vinagre4Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas s/n, 06006 Badajoz, SpainEscuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas s/n, 06006 Badajoz, SpainEscuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas s/n, 06006 Badajoz, SpainEscuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas s/n, 06006 Badajoz, SpainEscuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas s/n, 06006 Badajoz, SpainIonic polymer-metal composites (IPMCs) are electrically driven materials that undergo bending deformations in the presence of relatively low external voltages, exhibiting a great potential as actuators in applications in soft robotics, microrobotics, and bioengineering, among others. This paper presents an artificial eukaryotic flagellum (AEF) swimming robot made up of IPMC segments for the study of planar wave generation for robot propulsion by single and distributed actuation, i.e., considering the first flagellum link as an actuator or all of them, respectively. The robot comprises three independent and electrically isolated actuators, manufactured over the same 10 mm long IPMC sheet. For control purposes, a dynamic model of the robot is firstly obtained through its frequency response, acquired by experimentally measuring the flagellum tip deflection thanks to an optical laser meter. In particular, two structures are considered for such a model, consisting of a non-integer order integrator in series with a resonant system of both non-integer and integer order. Secondly, the identified models are analyzed and it is concluded that the tip displacement of each actuator or any IPMC point is characterized by the same dynamics, which remains unchanged through the link with mere variations of the gain for low-frequency applications. Based on these results, a controller robust to gain variations is tuned to control link deflection regardless of link length and enabling the implementation of a distributed actuation with the same controller design. Finally, the deflection of each link is analyzed to determine whether an AEF swimming robot based on IPMC is capable of generating a planar wave motion by distributed actuation.https://www.mdpi.com/1999-4893/15/6/181swimming robotionic polymer-metal compositefractional calculusmodelingcontrol |
| spellingShingle | José Emilio Traver Cristina Nuevo-Gallardo Paloma Rodríguez Inés Tejado Blas M. Vinagre Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation Algorithms swimming robot ionic polymer-metal composite fractional calculus modeling control |
| title | Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation |
| title_full | Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation |
| title_fullStr | Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation |
| title_full_unstemmed | Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation |
| title_short | Modeling and Control of IPMC-Based Artificial Eukaryotic Flagellum Swimming Robot: Distributed Actuation |
| title_sort | modeling and control of ipmc based artificial eukaryotic flagellum swimming robot distributed actuation |
| topic | swimming robot ionic polymer-metal composite fractional calculus modeling control |
| url | https://www.mdpi.com/1999-4893/15/6/181 |
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