Enhancement of actuation ability of ionic-type conducting polymer actuators using metal ion implantation

In this study, we present the results and implications of an experimental study into the effect of gold-ion implantation on the actuation performance of ionic-type conducting polymer actuators, represented here by cantilevered tri-layer polypyrrole (PPy) actuators. We implant gold ions beneath the outer surfaces of PPy-based conducting polymer layers of the actuators in order to increase the conductivity of these layers, and therefore improve the overall conductivity of the actuators. A Filtered Vacuum Cathode Arc (FVCA) ion source was used to implant gold particles into the conducting polymer layers. Electrode resistance and capacitance, surface resistance, current response, mechanical work output of the actuator samples were measured and/or calculated for the actuator samples with and without gold implantation in order to demonstrate the effect of the gold-implantation. The current passing through the conducting polymer electrodes during their ‘electrochemomechanical’ actuation was measured to determine the charging time constant of the actuators. The mechanical displacement output of the actuators was recorded. The results demonstrate that the conductivity of the actuators increases noticeably, which has a flow on effect on the current response (i.e., charge injected into the polymer layers) and the mechanical work output. While the gold implanted actuators had a higher mechanical stiffness therefore a smaller displacement output, their time constant is smaller, indicating a higher response speed. The gold-implanted actuators generated a 15% higher mechanical work output despite the adverse effects on the polymer of the vacuum processing needed for the ion implantation.     

导电聚合物驱动器悬臂梁模型建立及柔性抓取装置设计

基于导电聚合物具有柔韧性好、驱动电压低、能耗小等特性,采用自制的多层弯曲型导电聚合物驱动器搭建实验系统,依据等效悬臂梁理论建立驱动器力学模型。通过测量驱动器的弯曲变形量建立偏转位移与电压、长度的函数关系式,并且计算出等效均布载荷值。实验结果表明,驱动器偏转位移与电压、长度成线性关系;当驱动电压达到1.0 V时,驱动器偏转速度趋于稳定,且偏转效果最佳。为改善普通微操作装置结构复杂、能耗大的缺点,采用导电聚合物智能材料设计并制作出微型手爪制动器,最后验证了手爪可稳定抓起0.0111 g左右的重物。     

Characteristics of electroactive polymer actuators using graphene electrodes

As alternatives to precious gold/platinum electrodes, graphene-based ionic polymer-metal composite actuators were successfully demonstrated by reduced graphene oxide and direct grown graphene on both sides of the perfluorinated sulfonic acid polymer layer using electronic spray coating and wet transfer methods. In addition, a platinum electrode was prepared as a reference. We characterized the electrical and structural properties of the graphene electrodes using a four-point probe system and atomic force microscopy. The static actuation ranges were analyzed, and a modeling procedure was carried out to obtain the linear curvature–voltage relations. Furthermore, the periodic actuation range was dynamically tested to evaluate the changes in the actuation performance over time. The experimental results showed that the reduced graphene oxide electrodes are a good alternative to platinum electrode that provide better flexibility and restoration of the original shape. And also direct grown graphene electrode is also valuable to access the stacked actuator owing to the hydrophobic sub-nanometer electrode.     

Multiple conducting polymer microwire sensors

In this work, conducting polymer microwires of three commonly used conducting polymers were fabricated simultaneously on a common substrate using an intermediate-layer lithography (ILL) method. The three conducting polymers under consideration were polypyrrole (PPy), sulphonated polyaniline (SPANI) and poly(3,4-ethylenedioxythiophen)-poly(4-styrenesulphonate) (PEDOT-PSS). The fabricated microwires were implemented as sensing elements in detecting humidity and two organic vapors (i.e., methanol and acetone). The sensitivity of a single PPy microwire was compared with a rectangular PPy film after both were exposed to 45–85% humidity. The microwire sensor, due to its higher surface-to-volume ratio, was found to be more sensitive than the film sensor at low levels of humidity (between 45 and 58%). Beyond 58% humidity, the responses of the film and microwire sensors were similar. Three different sets of conducting polymer microwires (of PPy, SPANI and PEDOT) were then fabricated and employed as sensors to detect methanol, acetone and their mixtures. These microwires exhibited wave-like responses when they were exposed to these targets. The PPy and PEDOT microwires showed higher sensitivities in detecting methanol and acetone, respectively. The SPANI microwires exhibited similar responses in detecting methanol and acetone. The results demonstrate that microwire sensors were more effective than film sensors in detecting little quantities of target molecules. A sensor platform which integrates multiple microwire detectors is promising to detect multiple targets, and it also provides more information in detecting and distinguishing targets.     

Doping effects on robotic systems with ionic polymer–metal composite actuators

Ionic polymer–metal composite (IPMC) materials are one of the most promising electro-active polymer actuators for applications, and have good properties of response and durability. The characteristics of IPMC materials depend on the type of counter-ion. When applied to mechanical systems such as a robot, there exist possibilities to change the properties of the system dynamics by changing the counter-ions and system parameters according to the environment or purpose. We focus on this 'doping effect' property of the system and will verify the effect on robotic applications. In this paper, we consider dynamic walking of a small-sized biped robot and swimming motion of a snake-like robot, and demonstrate the doping effects by numerical simulations and experiments.     

Planate conducting polymer actuator based on polypyrrole and its application

In this study, we propose a planate actuator which can transform only its central part locally. We have developed a planate conducting polymer actuator based on polypyrrole (PPy) and two types of acids, such as p-phenol sulfonic acid and dodecylbenzene sulfonic acid, by electrodeposition. Its structure was patterned bimorph structure with anion-driven, cation-driven and bimorph layers. The planate conducting polymer actuator could deform only its central part locally. Moreover, we introduce a micro-pump that operates by planate conducting polymer actuator as the drive source. The water level in the flow channel of micro-pump shows the reciprocating motion measuring ±2 mm in accordance with the oscillation of the bimorph conducting polymer actuator which was approximately 28 μl/min. The oscillating volume can be controlled by the application of electrochemical potential and its scan rate applied to the actuator.     

Electro-adaptive microfluidics for active tuning of channel geometry using polymer actuators

With the expanding role of microfluidics in biology and medicine, methodologies for on-chip fluid sample manipulation become increasingly important. While conventional methods of microfluidic actuation, such as pneumatic and piezoelectric valves, are well characterized and commonly used, they require bulky external setups and complex fabrication. To address the need for a simple microfluidic actuator, we introduce a hybrid device consisting of an electroactive polymer that controls the shape of a microfluidic channel with an applied bias voltage. The electro-adaptive microfluidic (EAM) device allowed tuning of fluidic resistances by up to 18.1 %. In addition, we have shown that the EAM device is able to clear microchannel blockages by actively expanding the channel cross section. Biocompatibility tests show the EAM device has little effect on cell viability within a voltage range and thus has the potential to be utilized in bio-microfluidic systems. All of these results indicate that this EAM device design may find use in applications from cell sorting and trapping and self-clearing channels, to the reduction of lab-on-a-chip complexity via tunable channel geometries.     

Thermal actuators featuring large displacements for passive temperature sensing

The thermal actuator presented in this paper consists of two symmetrically V-shaped beam stacks, where each stack consists of six beams in parallel. The stacks are coupled facing each other and slightly shifted along the mirror axis. Both stacks are connected to a lever beam and fixed at four anchor regions to the substrate. Due to the difference in the coefficient of thermal expansion of the material of the beams and the one of the substrate, the tip of the lever moves perpendicular to the mirror axis. The device is fabricated from galvanic deposited nickel on a silicon substrate. Finite element simulations were carried out to optimize the design with respect to the sensitivity and the maximum mechanical stress. The stress needs to be lower than the yield strength of the material. Otherwise, plastic deformations of the beams would lead to irreversible deflections of the beam tip. This limits the overall sensitivity of the design. First results of the device with 400 μm long bent beams show a linear behavior and a sensitivity of 0.5 μm/K and forces of 66 μN/K for a temperature range of ?30 °C up to +40 °C.     

Effect of hexafluoropropylene on the performance of poly(vinylidene fluoride) polymer actuators based on single-walled carbon nanotube–ionic liquid gel

The effects of polymer species (poly(vinylidene fluoride)) (PVdF) homopolymer or poly(vinylidene fluoride-co-hexafluoropropylene) (PVdF(HFP) copolymer), average molecular weight of the polymer, and the HFP content in PVdF(HFP) on the electrochemical and electromechanical properties of actuators using polymer-supported single-walled carbon nanotube (SWCNT)–ionic liquid (IL) gel electrodes were investigated. For the PVdF (Kynar 741 or 761) actuator containing 1-ethyl-3-methylimidazolium tetrafluoroborate (EMI[BF₄]), the generated strain was 0.90–1.05% for the frequency range of 0.01–0.005 Hz, which was over twice as large as that for the PVdF(HFP) (Kynar Flex 2801) actuator. Furthermore, it is considered that the HFP content should be low (or zero) for large generated strain and zero for large maximum stress. The PVdF actuator performs much better than the PVdF(HFP) actuator and has a quick response, sufficient for practical application (e.g., tactile displays).     

Synthesis and performance evaluation of thin film PPy-PVDF multilayer electroactive polymer actuators

Bending-type microactuators less than 1 mm in length and comprising of two polypyrrole (PPy) layers separated by polyvinylidene fluoride (PVDF) membrane have previously been fabricated and was shown to operate both in air and aqueous media. The main limiting factor to increase the bending angle and to further miniaturise these actuators was the thickness of the commercially-available PVDF membrane used (～110 μm). In this study, we have synthesised a porous PVDF thin film with a thickness of 32 μm using a spin coating technique, and electrochemically deposited PPy layers on both sides of this thin film to make ultra thin film polymer actuators. The electromechanical and electrochemical properties are investigated and compared with those of the thicker actuator system using the commercially-available PVDF and under identical conditions. The thin film shows very promising performance compared to its thicker counterpart.     

Spatially resolved temperature mapping of electrothermal actuators by surface Raman scattering

In this paper, we report spatially resolved temperature profiles along the legs of working V-shaped electrothermal (ET) actuators using a surface Raman scattering technique. The Raman probe provides nonperturbing optical data with a spatial resolution of 1.2 /spl mu/m, which is required to observe the 3-/spl mu/m-wide actuator beams. A detailed uncertainty analysis reveals that our Raman thermometry of polycrystalline silicon is performed with fidelity of /spl plusmn/10 to 11 K when the peak location of the Stokes-shifted optical phonon signature is used as an indicator of temperature. This level of uncertainty is sufficient for temperature mapping of many working thermal MEMS devices which exhibit characteristic temperature differences of several hundred Kelvins. To our knowledge, these are the first quantitative and spatially resolved temperature data available for thermal actuator structures. This new temperature data set can be used for validation of actuator thermal design models and these new results are compared with finite-difference simulations of actuator thermal performance.     

Effect of electrode size and silicon residue on piezoelectric thin-film membrane actuators

Piezoelectric micro-electromechanical systems (MEMS) often adopt a membrane structure to facilitate sensing or actuation. Design parameters, such as membrane size, thickness of the piezoelectric thin film, and electrode types, have been studied to maximize actuation, sensitivity, or coupling coefficient. This paper is to demonstrate numerically and experimentally that the size of silicon residue and its relative size to the top electrode are two critical yet unrecognized parameters in maximizing the actuation displacement of PZT thin-film membrane actuators. To study effects of the silicon residue, we have developed a finite element model using ANSYS. The model consists of five components: a square passive silicon membrane, a silicon substrate, a PZT thin film, a square top electrode, and a silicon residue region. In particular, the silicon residue has a circular inner diameter and a square outer perimeter with a trapezoidal cross section. Predictions of the finite element model lead to several major results. First, when the silicon residue is present, there exists an optimal size of the top electrode maximizing the actuator displacement. Second, the optimal electrode size is roughly 50–60% of the inner diameters of the silicon residue. The displacement of the membrane actuator declines significantly as the electrode overlaps with the silicon residue. Third, the maximal actuator displacement decreases as the inner diameter of the silicon residue decreases. Aside from the finite element analysis, a mechanics-of-material model is also developed to predict the electrode size that maximizes the actuator displacement. To verify the simulation results, eight PZT thin-film membrane actuators with progressive electrode sizes are fabricated. These actuators all have a square membrane of 800 μm × 800 μm with the inner diameter of the silicon residue controlled between 500 and 750 μm. A laser Doppler vibrometer is used to measure the actuator displacements. The experimental measurements confirm that there exists an optimal size of the top electrode maximizing the actuator displacement.     

Feedback control of tri-layer polymer actuators to improve their positioning ability and speed of response

Improving positioning ability of electroactive polymer actuators typified by polypyrrole (PPy) through feedback control of their position has been considered. The actuators operate in air, as opposed to their predecessors. One of the problems associated with the actuators is the forward relaxation/creep or drift, which occurs after the full reduction and oxidation processes are completed. A high-resolution laser displacement sensor was used to detect the position of the cantilever-type polymer actuators and the classical, yet effective, Proportional, Integral and Derivative (PID) control method has been employed to generate the appropriate control input in order to make sure that no drift occurs in the user-specified position of the actuators. A set of experimental results with and without feedbacking the position data are presented to demonstrate the efficacy of the control method for improving the positioning ability and the speed of response. The rise time is reduced by more than 500 times and the position tracking error is less than 10% for a time-varying user-specified position command.     

Design, modeling, fabrication, and performances of bridge-type high-performance electroactive polymer micromachined actuators

Bridge-type high- performance polymer micromachined actuators (PMATs) based on an electroactive polymer, modified poly(vinylidene fluoride-trifluoroethylene) [P(VDF-TrFE)] copolymer had been designed, modeled, fabricated, and characterized. The results show that the material enables the PMAT to exhibit a high stroke level (60 /spl mu/m displacement with 1 mm lateral dimension microactuator) with high-load capability and high-displacement voltage ratio (DVR) over a broad frequency range (>100 kHz). The stroke reduction in fluid (Silicone oil) is less than 5% comparing with the displacement in air. Impedance analysis and displacement measurement indicate that the PMAT has strong resonance behavior and the resonance frequency can be tuned by varying the dc bias field. Furthermore, the resonance peak, as expected by theoretical study, shifted to 6.5 times lower in fluid than in air with the mechanical Q value reduction less than 40%. In addition, the performance of the PMAT was modeled based on the elastic and electromechanical properties of the materials utilized in the PMAT and the configuration of the device. The comparison between the model and the experimental result shows a good agreement and validates the model as an effective method for the future development of PMAT for various applications. The high frequency response and respected performance in fluid medium demonstrate that the PMAT has potential for high performance MEMS components in the applications of microfluid systems, air dynamic control, under water transducers, and mass sensors, etc.     

Comparative analysis of sensor responses of thin conducting polymer films to organic solvent vapors

A comparative analysis of responses of thin films of various conducting polymers (polyaniline, polypyrrole and poly-3-methylthiophene) to the vapors of polar as well as low- and nonpolar organic solvents was performed. Conductivity measurements, infra-red and electron paramagnetic resonance spectroscopy were used to characterize responses of the polymer films doped with different dopants. Main physical and chemical factors which define the magnitude of the response to the studied analytes were determined. It was shown that the differences in response of conducting polymer films are conditioned by the influence of chemical structure of the polymer and its dopant, and also by different nature of their doping.     

Force control of twisted and coiled polymer actuators via active control of electrical heating and forced convective liquid cooling

For decades, numerous artificial muscles have been proposed in order to implement beneficial features of biological muscles into robotics. Unfortunately, traditional artificial muscles experienced difficulties in imitating properties of the biological muscles due to mechanical and control issues. Recently, twisted and coiled polymer actuators (TCP) have been shown to produce large mechanical power via thermal stimulations and strong linearity. In this paper, a high-performance TCP thermally cycled by electrical heating and forced convective liquid cooling is designed and associated control algorithms are presented. We elaborate the model of the TCP that is simple, yet provides insight into how the electrical heating and the forced convective liquid cooling contribute to the TCP actuation. The proposed model is verified by experimental studies. Based on the proposed model, we design a feedforward–feedback controller and switching laws, which actively control the TCP in both the heating and cooling cycles. Furthermore, we extend our control methodology to agonist–antagonist TCPs. From the experimental studies, the proposed method is shown to be effective in both single TCP and antagonistic TCPs.     

Topology design of thermomechanical actuators

The paper deals with topology design of thermomechanical actuators. The goal of shape optimization is to maximize the output displacement in a given direction on the boundary of the elastic body, which is submitted to a thermal excitation that induces a dilatation/contraction of the thermomechanical device. The optimal structure is identified by an elastic material distribution, while a very compliant (weak) material is used to mimic voids. The mathematical model of an actuator takes the form of a semi-coupled system of partial differential equations. The boundary value problem includes two components, the Navier equation for linear elasticity coupled with the Poisson equation for steady-state heat conduction. The mechanical coupling is the thermal stress induced by the temperature field. Given the integral shape functional, we evaluate its topological derivative with respect to the nucleation of a small circular inclusion with the thermomechanical properties governed by two contrast parameters. The obtained topological derivative is employed to generate a steepest descent direction within the level set numerical procedure of topology optimization in a fixed geometrical domain. Finally, several finite element-based examples for the topology design of thermomechanical actuators are presented.     

Development of X-beam electrothermal actuators

A new electrothermal actuator with X-shaped single crystal silicon beam structure is proposed and characterized. This new actuator is made by using SOI-DRIE processes. X-beam actuator of 2000 m projection length and 0.5° tilted angle can generate 90 m static displacement. This new design shows a better static displacement and stability in long travel range than the other actuators. From these experimental data, we conclude the feasibility of our new X-beam actuators. Any movable structure connected with one side of this X-beam can be pushed toward the other side. Therefore, it can be a basic actuation element in association with various structures for different applications.