Wireless actuation and control of ionic polymer–metal composite actuator using a microwave link

摘要

The ionic polymer–metal composite (IPMC), a type of electroactive polymer (EAP) actuator, has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage. Although this polymer actuator has strong potential for a next-generation artificial muscle actuator, it has been observed by many researchers that supplying actuation voltages in multiple locations is challenging. In robotic applications, a tethered operation is prohibited and the battery weight can be critical for actual implementation. In this research, the remote unit can provide necessary power and control signals to the target mobile robot units actuated by IPMCs. This research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the power. Frequency modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is located. This approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.