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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Dynamics of Omnidirectional IPMC Sensor: Experimental Characterization and Physical Modeling
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Dynamics of Omnidirectional IPMC Sensor: Experimental Characterization and Physical Modeling

机译：全向IPMC传感器的动力学：实验表征和物理建模

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摘要

Typical ionic polymer-metal composite (IPMC) sensors are in the shape of beams, and only respond to stimuli acting perpendicular to the beam plane. In this paper, we present a novel, omnidirectional, tubular IPMC sensor that responds to all stimuli perpendicular to the tube axis. With one common inner electrode and four outer electrodes, the tubular IPMC sensor provides four routes of common-ground current outputs. With a custom-made setup, the response of each sensor route is characterized under tip deflection in different orientations at frequencies 1–20 Hz, which verifies the sensor's omnidirectional sensing capability and shows little mechanoelectrical coupling between neighboring sensor routes. An analytical dynamic model, in the form of an infinite-dimensional transfer function, is developed for the sensor, which captures the internal ion-transport physics and the effect of contact resistance. Experimental results show that the proposed model is able to capture the tubular sensor dynamics. Finally, the original model is reduced to a finite-dimensional one, based on which an inversion algorithm is used to reconstruct the mechanical stimulus given the sensor output. The effectiveness of the reconstruction approach is demonstrated experimentally.
机译：典型的离子聚合物-金属复合材料（IPMC）传感器呈束状，并且仅对垂直于束平面的刺激做出响应。在本文中，我们提出了一种新颖的全向管状IPMC传感器，该传感器可对垂直于管轴的所有刺激做出响应。管状IPMC传感器具有一个公共内部电极和四个外部电极，提供了四条公共接地电流输出路径。通过定制的设置，每个传感器路径的响应都在1-20 Hz频率下在不同方向的尖端偏转下表征，这验证了传感器的全向感测能力，并且在相邻传感器路径之间几乎没有机电耦合。为传感器开发了一种无穷维传递函数形式的分析动力学模型，该模型捕获了内部离子传输物理特性和接触电阻的影响。实验结果表明，提出的模型能够捕获管状传感器的动力学特性。最后，将原始模型简化为有限维模型，在此基础上，使用反演算法重建给定传感器输出的机械刺激。实验证明了重建方法的有效性。

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