Closed loop performance of polypyrrole linear contractile actuators
Conducting polymer actuators such as polypyrrole can generate stresses over 10 times larger than skeletal muscle and have typical repeatable strains between 1% and 12%, making them potential candidates for lightweight, low-cost, robotic applications. Polypyrrole linear actuators under closed loop co...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/78639 https://orcid.org/0000-0002-8251-5432 |
| _version_ | 1811089256519565312 |
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| author | Paster, Eli Travis Ruddy, Bryan P. Pillai, Priam V. Hunter, Ian |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Paster, Eli Travis Ruddy, Bryan P. Pillai, Priam V. Hunter, Ian |
| author_sort | Paster, Eli Travis |
| collection | MIT |
| description | Conducting polymer actuators such as polypyrrole can generate stresses over 10 times larger than skeletal muscle and have typical repeatable strains between 1% and 12%, making them potential candidates for lightweight, low-cost, robotic applications. Polypyrrole linear actuators under closed loop control have not been previously reported. Here we report the open and closed loop performance of polypyrrole linear contractile actuators evaluated at pre-loaded stresses of 1 MPa to 3 MPa. A standard PI control scheme driving a potentiostat was implemented in conjunction with positioning feedback from a DC/DC linear variable differential transformer (LVDT). A dynamic positioning range of 3400 is reported, with a positioning resolution of 125 nm (0.001% strain) and a maximum repeatable displacement of 427 microns (3.6% strain). The open loop frequency response of actuator strain shows characteristics of a first-order low pass filter with a log gain versus log frequency slope near -1 for frequencies tested between 0.05 Hz to 2 Hz. The closed loop frequency response of actuator strain when tracking a sinusoidal set-point signal of 0.5% strain shows characteristics of a first order system with one zero, with a corner frequency near 0.08 Hz and an operating bandwidth up to 1 Hz. Step responses at various controller output maximum voltages show a reduction in contractile response times by a factor of four, where higher voltages yield faster contractile responses. |
| first_indexed | 2024-09-23T14:16:19Z |
| format | Article |
| id | mit-1721.1/78639 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:16:19Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/786392022-10-01T20:14:23Z Closed loop performance of polypyrrole linear contractile actuators Paster, Eli Travis Ruddy, Bryan P. Pillai, Priam V. Hunter, Ian Massachusetts Institute of Technology. Department of Mechanical Engineering Paster, Eli Travis Ruddy, Bryan P. Pillai, Priam V. Hunter, Ian Conducting polymer actuators such as polypyrrole can generate stresses over 10 times larger than skeletal muscle and have typical repeatable strains between 1% and 12%, making them potential candidates for lightweight, low-cost, robotic applications. Polypyrrole linear actuators under closed loop control have not been previously reported. Here we report the open and closed loop performance of polypyrrole linear contractile actuators evaluated at pre-loaded stresses of 1 MPa to 3 MPa. A standard PI control scheme driving a potentiostat was implemented in conjunction with positioning feedback from a DC/DC linear variable differential transformer (LVDT). A dynamic positioning range of 3400 is reported, with a positioning resolution of 125 nm (0.001% strain) and a maximum repeatable displacement of 427 microns (3.6% strain). The open loop frequency response of actuator strain shows characteristics of a first-order low pass filter with a log gain versus log frequency slope near -1 for frequencies tested between 0.05 Hz to 2 Hz. The closed loop frequency response of actuator strain when tracking a sinusoidal set-point signal of 0.5% strain shows characteristics of a first order system with one zero, with a corner frequency near 0.08 Hz and an operating bandwidth up to 1 Hz. Step responses at various controller output maximum voltages show a reduction in contractile response times by a factor of four, where higher voltages yield faster contractile responses. United States. Intelligence Advanced Research Projects Activity (Grant NBCHC080001) 2013-05-01T14:55:39Z 2013-05-01T14:55:39Z 2010-05 2009-09 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-5040-4 978-1-4244-5038-1 1050-4729 http://hdl.handle.net/1721.1/78639 Paster, Eli, Bryan P Ruddy, Priam V Pillai, and Ian W Hunter. Closed Loop Performance of Polypyrrole Linear Contractile Actuators. In Pp. 506–511. IEEE, 2010. © Copyright 2010 IEEE https://orcid.org/0000-0002-8251-5432 en_US http://dx.doi.org/10.1109/ROBOT.2010.5509724 IEEE International Conference on Robotics and Automation (ICRA), 2010 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers (IEEE) IEEE |
| spellingShingle | Paster, Eli Travis Ruddy, Bryan P. Pillai, Priam V. Hunter, Ian Closed loop performance of polypyrrole linear contractile actuators |
| title | Closed loop performance of polypyrrole linear contractile actuators |
| title_full | Closed loop performance of polypyrrole linear contractile actuators |
| title_fullStr | Closed loop performance of polypyrrole linear contractile actuators |
| title_full_unstemmed | Closed loop performance of polypyrrole linear contractile actuators |
| title_short | Closed loop performance of polypyrrole linear contractile actuators |
| title_sort | closed loop performance of polypyrrole linear contractile actuators |
| url | http://hdl.handle.net/1721.1/78639 https://orcid.org/0000-0002-8251-5432 |
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