( 您好!臺灣時間:2021/05/17 21:56
字體大小: 字級放大   字級縮小   預設字形  


研究生(外文):Tung-Lin Chen
論文名稱(外文):Fabrication on Multi-Degree Ion-Polymer-Metal-Composition (IPMC) Actuator
指導教授(外文):Jr-Ming Miao
外文關鍵詞:IPMCMultiple Degrees of FreedomSilver ElectrodesComposite MaterialsOxidation Reduction
  • 被引用被引用:1
  • 點閱點閱:176
  • 評分評分:
  • 下載下載:4
  • 收藏至我的研究室書目清單書目收藏:0



In the open literature about the ionic polymer-metal composite (IPMC) materials, coating or plating a thin layers of platinum (Pt) or gold (Au) to be the electrodes is widely observed. However, the high price of these heavy metals and the complexity of manufacture process limited the application of IPMC actuators. Present work developed a novel electroless plating process for growing a thin layer of silver (Ag) electrode for IPMC actuator. After testing the dynamic performance of Ag-IPMC actuators in air, an electrode oxidation phenomena occurred to reduce the deformation of actuators. This is due to the increase of internal resistance from self-plating of Ag particles nearby the interfaces of Ag layers and central membrane. This deflect of Ag-IPMC actuators can be avoided when application in liquid environment such as water.
The major work of present thesis is to develop the Ag-IPMC actuators with patterned electrodes. The function of patterned electrodes is to create bending or twisting deformation of actuator when a DC voltage is applied on both sides of electrodes. The infrared laser is used to machine the Ag electrodes to the desired pattern. Several electrode configurations are considered and the deformation levels of actuators are evaluated with the optical detection method. Results indicated that the multiple degrees in deformation of Ag-IPMC actuators can be achieved with patterned electrodes to a particular configuration.


[1] Bar-Cohen, Y., 2002, “Electroactive Polymers: Current Capabilities and Challenges,” In SPIE's 9th Annual International Symposium on Smart Structures and Materials, pp. 1-7.

[2] Bar-Cohen, Y. and Leary, S., 2000, “Electroactive Polymers As Artificial Muscles Changing Robotics Paradigms,” In National Space and Missile Materials Symposium, Vol. 27.

[3] Kim, K. J. and Shahinpoor, M., 2002, “A Novel Method of Manufacturing Three-dimensional Ionic Polymer–Metal Composites (IPMCs) Biomimetic Sensors Actuators and Artificial Muscles,” Polymer, Vol. 43, No. 3, pp. 797-802.

[4] 李宣緯,鄭如忠,2012,「有記憶的高分子」,科學發展,476期。

[5] Shahinpoor M, Bar-Cohen Y, Simpson, J. O., and Smith, J., 1998, “Ionic Polymer-Metal Composites(IPMCs) as Biomimetic Sensors and Actuators,” Proceedings of SPIE’S 5th Annual International Symposium on Smart Structures and Materials, pp. 3324~3327.

[6] Bar-Cohen, Y., 2000, “Electroactive Polymers as Artificial Muscles-Capabilities Potentials and Challenges,” Handbook on Biomimetics, Vol. 11, No. 8, pp. 1-3.

[7] Doerr, L., 1967, “Metalizing Plastic Surfaces”, Modem Plastics, pp. 1-6.

[8] Levme, C. A. and Prevost, A. L., 1968, “Metal Plating Permselective Membranes,” Use of Cationic Perrnselective Membranes in Anodizing, pp.1-6.

[9] Oguro, K., Kawami, Y., &; Takenaka, H., 1992, “Bending of An Ion-conducting Polymer Film-electrode Composite by An Electric Stimulus at Low Voltage,” Journal of Micromachine Society, 5(1), 27-30.

[10] Shahinpoor M., 1992, “Conceptual Design, Kinematics and Dynamics of Swimming Robotic Structures Using Ionic Polymeric Gel Muscles”, Smart Material and Structure, Vol. 1 , pp. 91-94.

[11] Sadeghipour, K., Salomon, R., and Neogi, S., 1992, “Development of A Novel Electrochemically Active Membrane and 'Smart' Material Based Vibration Sensor/Damper,” Smart Materials and Structures, Vol. 1, No. 2, pp. 172-176.

[12] Kim, B., Ryu, J., Jeong, Y., Tak, Y., and Park, J., 2003, “A Capillary Based 8-Legged Walking Micro Robot Using Cast IPMC Actuators,” IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2940-2945.

[13] Kim, B., Kim, B. M., Ryu, J., Oh, I., Lee, S., Cha, S., and Park, J., 2003, “Analysis of Mechanical Characteristics of the Ionic Polymer Metal Composite (IPMC) Actuator Using Cast Ion-Exchange Film,” Proceedings of SPIE, vol. 5051, pp. 486-495.

[14] Xu, S., Liu, B., and Lina, H., 2009, “A Small Remote Operated Robotic Fish Actuated by IPMC. IEEE International Conference in Robotics and Biomimetics, pp. 1152-1156).

[15] Shahinpoor, M., and Kim, K. J., 2001, “Ionic Polymer-Metal Composites: I. Fundamentals,” Smart Materials and Structures, Vol. 10, pp. 819-833.

[16] Kim, K. J. and Shahinpoor, M., 2003, “Ionic Polymer–Metal Composites: II. Manufacturing Techniques,” Smart Materials and Structures, Vol. 12, pp. 65-79.

[17] Shahinpoor, M. and Kim, K. J., 2004, “Ionic Polymer–Metal Composites: III. Modeling and Simulation as Biomimetic Sensors, Actuators, Transducers, and Artificial Muscles,” Smart Materials and Structures, Vol. 13, pp. 1362-1388.

[18] Shahinpoor, M. and Kim, K. J., 2005, “Ionic Polymer–Metal Composites: IV. Industrial and Medical Applications,” Smart Materials and Structures, Vol. 14, pp. 197-214.

[19] Shahinpoor, M. and Kim, K. J., 2002, “Novel Ionic Polymer–Metal Composites Equipped with Physically Loaded Particulate Electrodes as Biomimetic Sensors, Actuators and Artificial Muscles,” Sensors and Actuators A: Physical, Vol. 96, pp. 125-132.

[20] Kaneda, Y., Kamamichi, N., Yamakita, M., Asaka, K., and Luo, Z. W., 2003, “Control of Linear Artificial Muscle Actuator Using IPMC,” SICE 2003 Annual Conference, Vol. 2, pp. 1650 - 1655.

[21] Otero, T. F., Cortes, M. T., 2003, “Artificial Muscle: Movement and Position Control,” Chem Commun (Camb), Vol. 3, pp. 284-285.

[22] 王海霞,余海湖,李小甫,姜德生,2004, “Pt-Ni/Nafion膜電致動材料的製備及性能研究”,武漢理工大學學報,第26卷,第12期,第5-8頁。

[23] Yao, Q., Alici, G., and Spinks, G. M., 2008, “Feedback Control of Tri-Layer Polymer Actuators to Improve their Positioning Ability and Speed of Response,” Sensors and Actuators A: Physical, Vol. 144, pp. 176–184.

[24] Arena, P., Bonomo, C., Fortuna, L., Frasca, M., and Graziani, S., 2006, “Design and Control of an IPMC Wormlike Robot,” IEEE Trans Syst Man Cybern B, Vol. 5, pp. 1044-1052.

[25] Lee, J. S., Gutta, S., and Woosoon, Y., 2007, “Open-Loop Control of Ionic Polymer Metal Composite (IPMC) Based Underwater Actuator Using a Network of Neural Oscillator,” Intelligent Robots and Systems, pp. 2132-2137.

[26] Bar-Cohen, Y., Leary, S. P., Yavrouian, A., Oguro, K., Tadokoro, S., Harrison, J. S., Smith, J. G., and Su, J., 2000, “Challenges to the Application of IPMC as Actuators of Planetary Mechanisms,” Proceedings of SPIE's 7 Annual International Symposium on Smart Structures and Materials, Vol. 3987, pp. 140-146.

[27] 譚湘強,鐘映春,楊宜民,2002, 「IPMC人工肌肉的特性機器應用」,高技術通訊,第12卷,第1期,第50-52頁。

[28] Jung, K., Ryew, S., Jeon, J., Kim, H., Nam, J., and Choi, H., 2001, “Experimental Investigations on Behavior of IPMC Polymer Actuator and Artificial Muscle-like Linear Actuator,” In SPIE's 8th Annual International Symposium on Smart Structures and Materials, pp. 449-457.

[29] Shahinpoor, M. and Kim, K. J., 2004, “Ionic Polymer–Metal Composites: III. Modeling and Simulation as Biomimetic Sensors, Actuators, Transducers, and Artificial Muscles,” Smart Materials and Structures, Vol. 13, pp. 1362–1388.

[30] Yamakita, M., Kamamichi, N., Kozuki, T., Asaka, K., and Luo, Z., 2005, “A Snake-Like Swimming Robot Using IPMC Actuator and Verification of Doping Effect,” Intelligent Robots and Systems, pp. 2035-2040 .

[31] Anton, M., Punning, A., Aabloo, A., Listak, M., and Kruusmaa, M., 2004, “Towards a Biomimetic EAP Robot,” Proc. Of Towards Autonomous Robotic Systems, pp. 6-8.

[32] 方柏凱,2004,以離子性聚合物-金屬複材發展變曲率心導管,碩士論文,國立成功大學,機械工程學系研究所,台南。

[33] 蔡偉博,2006,利用離子性聚合物-金屬複合材料於尿道人工括約肌之研發,碩士論文,國立台灣大學,化學工程研究所,台北。

[34] Mbemmo, E., Chen, Z., Shatara, S., and Tan, X., 2008, “Modeling of Biomimetic Robotic Fish Propelled by an Ionic Polymer-Metal Composite Actuator,” IEEE International Conference on Robotics and Automation Pasadena, USA, May 19-23.

[35] 軍事網 http://www.thjunshi.com/

[36] Roland, 2009, “Nafion-Polymer,” Germany, de.wikipedia, Available at: en.wikipedia.org/, Accessed 3 January 2009.

[37] Hsu, W. Y. and Gierke, T. D., 1983, “Ion Transport and Clustering in Nafion Perfluorinated Membranes,” Journal of Membrane Science, Vol. 13, pp. 307-326.

[38] Gierke, T. D., Munn, G. E., and Wilson, F. C., 1981, “The Morphology in Nafion Perfluorinated Membrane Products, as Determined by Wide- and Small-Angle X-Ray Studies,” Journal of Polymer Science, Vol. 19, pp, 1687-1704.

[39] Wang, H. X., Yu, H. H., Li, X. F., and Jiang, D. S., 2004, “Preparation and Properties of Pt-Ni/Nafion Membrane Based Electrically Driven Materials,” Journal of Wuhan University of Technology, Vol. 26, No. 12, pp. 5-8.

[40] Park, I. S., Kim, S. M. and Kim, K. J., 2007, “Mechanical and Thermal Behavior of Ionic Polymer–metal Composites: Effects of Electrode metals,” Smart materials and structures, Vol. 16, No.4, pp.10-19.

[41] 丁海濤,2010,IPMC人工肌肉材料的製備、理論模型與分析,南京航空航天大學,機電學院,南京。

[42] Jeon, J. H., Yeom, S. W., and Oh, I. K., 2008, “Fabrication and Actuation of Ionic Polymer-metal Composites Patterned by Combining Electroplating with Electroless Plating,” Composites Part A: Applied Science and Manufacturing, Vol. 39, No. 4, pp. 588-596.

[43] Keyence設備型錄 http://www.keyence.com.tw/index.php

[44] 陳席卿,1993,雷射原理與光電檢測,全華科技圖書股份有限公司,第三版。

[45] 李東峰,2012,離子高分子金屬複合式材料之銀電極製程優化,碩士論文,國立屏東科技大學,材料工程研究所,屏東。

[46] Guilly, M., Uchida, M., and Taya, M., 2002, “Nafion-based Smart Membrane as an Actuator Array,” In Proc. SPIE, Vol. 4695, pp. 78-84.

[47] Nakano, M., Mazzone, A., Piffaretti, F., Gassert, R., Nakao, M., and Bleuler, H., 2005, “IPMC Actuator Array as 3-D Haptic Display,” Proc SPIE Smart Structure Mater, pp. 25-34.

[48] Jeong, K. M., 2001, “Research on Artificial Muscle-like Actuator Using IPMC,” Doctoral dissertation, Master Thesis, Sung Kyun Kwan University.

[49] Sewa, S., Onishi, K., Asaka, K., Fujiwara, N., and Oguro, K., 1998 “Polymer Actuator Driven by Ion Current at Low Voltage, Applied to Catheter System,” In IEEE the Eleventh Annual International Workshop on Micro-Electro -Mechanical Systems, pp. 148-53.

[50] Ruiz, S. A., Mead, B., Yun, H., Yim, W., and Kim, K. J., 2013, “Design Optimization of Rod Shaped IPMC Actuator”, Electroactive Polymer Actuators and Devices, Proc. of SPIE, Vol. 8687, pp. 868-722.

[51] Riddle, R. O., Jung, Y., Kim, S. M., Song, S., Stolpman, B., Kim, K. J., and Leang, K. K., 2010, “Sectored-IPMC Actuator for Bending and Twisting Motion,” In SPIE Smart Structures and Materials Nondestructive Evaluation and Health Monitoring, pp. 764221-764221.

[52] 陳彥賢,陳志益,詹聖慶,2011,化學,新文京開發出版股份有限公司。

註: 此連結為研究生畢業學校所提供,不一定有電子全文可供下載,若連結有誤,請點選上方之〝勘誤回報〞功能,我們會盡快修正,謝謝!
第一頁 上一頁 下一頁 最後一頁 top