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ECE5320 Mechatronics
Assignment#01: Literature Survey on Sensors and Actuators
Topic: Electroactive Polymers (EAP) Actuator
Prepared by: Andrew Hall
Dept. of Electrical and Computer Engineering
Utah State University
E: a.hall@aggiemail.usu.edu
3/6/2009
Slide-2
Outline
– Reference list
– To probe further
– Major applications
– Basic working principle illustrated
– Application notes
– Major specifications
– Advantages
– Limitations
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-3
Reference list
• Bar-Cohen, Yoseph, ‘Electroactive Polymers
(EAP)’,
http://electrochem.cwru.edu/ed/encycl/art-p02-
elact-pol.htm
• EAP fabricating recipes,
http://ndeaa.jpl.nasa.gov/nasa-
nde/lommas/eap/EAP-recipe.htm
• EMPA,
http://www.empa.ch/plugin/template/empa/*/565
70/---/l=1
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-4
To explore further
(survival pointers of web references etc)
• Bar-Cohen, Yoseph, http://eap.jpl.nasa.gov/
– Great resource of EAP information around the world.
• http://ndeaa.jpl.nasa.gov/nasa-
nde/lommas/eap/EAP-material-n-products.htm
– List of manufacturers of EAP products and material.
• Basic Information,
http://en.wikipedia.org/wiki/Electroactive_polym
ers
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-5
Major applications
• Artificial Muscles
• Robotics
• Auto focus for mobile phones
• Artificial Eyelid
• Braille Cells
• Force feedback device
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-6
EAP Actuators
• EAP are divided into two major groups:
• Electronic EAP
– Dielectric EAP
– Electrostrictive Graft Elastomers
– Electrostrictive Paper
– Electro-Viscoelastic Elastomers
– Ferroelectric Polymers
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-7
EAP Actuators
• Ionic EAP
– Carbon Nanotubes (CNT)
– Conductive Polymers (CP)
– ElectroRheological Fluids (ERF)
– Ionic Polymer Gels (IPG)
– Ionic Polymer Metallic Composite (IPMC)
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-8
Basic Working Principle
• Dielectric EAP Components
– Electronic Driver (high voltage DC transformer)
– Electroding Material
• Conductive carbon grease
– Polymer Material
• Acrylic adhesive tape
Recipe from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/EAP-recipe.htm
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-9
Basic Working Principle
Image from: http://www.empa.ch/plugin/template/empa/*/56570/---/l=1
• Dielectric EAP actuator deactivates when the voltage
source is removed as shown on the left.
• Activated dielectric EAP actuator is shown on the right
when the voltage source is applied.
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-10
Basic Working Principle
• Ionic EAP Material Example
– Monomer: Pyrrole
– Base polymer: poly
– Lithium Perchlorate
– Acetonitrile HPLC grade
– Tetrahydrofuran HPLC grade
– Deionized water
– Electrodes: Polished stainless steel plates
Recipe from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/Polypyrrole-PrepProcedure.htm
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-11
Basic Working Principle
• Ionic EAP outline of
movement when activated
by an electric current.
• Chemical make-up is
important in providing
enough electron
movement to move the
actuator.
Image from:
http://www.electrochem.org/meetings/scheduler/abstracts/214/0117.pdf
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-12
Application Notes
Image from:
http://www.empa.ch/plugin/template/empa/*/56570/---/l=1
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-13
Application Notes
• Shell-like actuators may be used to generate
specific interaction between structure and
environment.
• Possible uses as stated by EMPA
– Ropeway Gondolas
– Active Blimp
– Aerospace Propulsion
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-14
Application Notes
• EAP actuators have been
challenged to arm
wrestling a human to
progress the development
and application of EAP
actuators in the medical
area.
• EAP actuator researchers
Image from: http://eap.jpl.nasa.gov/
want to one day make
arm and leg prosthetics
for humans.
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-15
Application Notes
•Comparison
between a human
muscle and an
EAP actuator.
Image from: http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/PPY-v-2004-03-Perfromance-MIT.pdf
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-16
Major Specifications
• Free strain
• Blocked force
• Specific work output
• Activation cycles
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-17
Advantages
• Electronic EAP
– Millisecond responses
– Hold strain under DC activation
– Induce large actuation forces
– Large mechanical energy density
– Long run times at room temperature
– Bend, stretch, or contract
– No power to keep actuator at a given position
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-18
Advantages
• Ionic EAP
– Bi-directional actuation naturally
– Low voltage operation
• 1 or 2 volts
– Some have bi-stability capabilities
– Bend, stretch, or contract
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-19
Limitations
• Electronic EAP
– Requires high voltages to operate (~100 MV/meter)
• Is being improved upon and in some cases down to 20
MV/meter
– Independent of voltage polarity
– Low commercial avaliablity
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-20
Limitations
• Ionic EAP
– Requires electrolyte
– Must have protective layer in open air
– Low electromechanical coupling
– Most do not hold strain under DC voltage
– Slow response times
– Can induce low actuation force
– Low commercial avaliablity
6/13/2012 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
