Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator

被引：28

作者：

Nishida, Gou ^{[1
]}

Takagi, Kentaro ^{[2
]}

Maschke, Bernhard ^{[3
,4
,5
]}

Osada, Takaaki ^{[2
]}

机构：

[1] RIKEN, Adv Sci Inst, Nagoya, Aichi 4630003, Japan

[2] Nagoya Univ, Dept Mech Sci & Engn, Nagoya, Aichi 4648603, Japan

[3] Univ Lyon, F-69003 Lyon, France

[4] Univ Lyon 1, Fac Sci & Technol, F-69622 Villeurbanne, France

[5] Univ Lyon 1, CNRS, Lab Automat & Genie Procedes, UMR5007, F-69622 Villeurbanne, France

来源：

CONTROL ENGINEERING PRACTICE | 2011年 / 19卷 / 04期

关键词：

Multilevel systems; Bond graphs; Actuators; Distributed parameter systems; Modelling; Boundary integral formulation; BOUNDARY CONTROL-SYSTEMS; HAMILTONIAN-FORMULATION; FLEXIBLE BEAMS; TRANSDUCERS; GELS;

D O I：

10.1016/j.conengprac.2010.10.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the modeling of a soft actuator called an ionic polymer-metal composite (IPMC) by using distributed port-Hamiltonian (DPH) systems on multiple spatial scales. The multi-scale IPMC structure consists of an electric double layer, an electro-stress diffusion coupling and a flexible beam. The coupling of the structure can be modeled by the DPH systems with unidirectional energy flows on connecting boundaries of the subsystems, and it is called a boundary multi-scale coupling. The boundary multi-scale couplings derived from detailed models can be used for multi-scale retaining interconnections of various reduced models, e.g. numerical models with approximations. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：321 / 334

页数：14

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