{"data":{"id":"10.6084/m9.figshare.7246259.v2","type":"dois","attributes":{"doi":"10.6084/m9.figshare.7246259.v2","prefix":"10.6084","suffix":"m9.figshare.7246259.v2","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"ElDiwiny, Marwa","nameType":"Personal","givenName":"Marwa","familyName":"ElDiwiny","affiliation":[],"nameIdentifiers":[]}],"titles":[{"title":"Towards Understanding How to Design a Soft Artificial Muscle Actuator?"}],"publisher":"figshare","container":{},"publicationYear":2018,"subjects":[{"subject":"90602 Control Systems, Robotics and Automation","subjectScheme":"FOR"},{"subject":"FOS: Electrical engineering, electronic engineering, information engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Electrical engineering, electronic engineering, information engineering","subjectScheme":"Fields of Science and Technology (FOS)"}],"contributors":[],"dates":[{"date":"2018-10-24","dateType":"Created"},{"date":"2018-10-24","dateType":"Updated"},{"date":"2018","dateType":"Issued"}],"language":null,"types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"IsIdenticalTo","relatedIdentifier":"10.6084/m9.figshare.7246259","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":["25232251 Bytes"],"formats":[],"version":null,"rightsList":[{"rights":"Creative Commons Attribution 4.0 International","rightsUri":"https://creativecommons.org/licenses/by/4.0/legalcode","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"cc-by-4.0","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"\u003cbr\u003eIn this manuscript we present a physics based model for sake of understanding\u003cbr\u003ethe actuation mechanism and the desired blocked force generated with respect\u003cbr\u003eto the applied potential field at different geometries.\u003cbr\u003eIn the experimental work, we have found that the frequency and the am-\u003cbr\u003eplitude plays a crucial role in actuation profile of ionic EAP. For estimating\u003cbr\u003ethe blocked force generated along the spatial domain of ionic EAP, we have\u003cbr\u003eimplemented Coulomb inverse square law as there is an electrostatic interaction\u003cbr\u003eamong one mobile ion and N of elementary electric charge which could be re-\u003cbr\u003epulsion or attraction on both surface area of ionic EAP based on the applied\u003cbr\u003epotential field phase.\u003cbr\u003eThe ionic EAP is a tri-layer, assuming that the upper and lower layer which\u003cbr\u003eare conductive layer a RC transmission line where we assume that R is constant\u003cbr\u003efor sake of simplicity. The potential field at the clamping point is diffused along\u003cbr\u003ethe muscle, one dimensional diffusion model is implemented for estimating the\u003cbr\u003eelementary electric charges diffused in the surface area of the upper layer. As\u003cbr\u003eionic EAP is working as mutual capacitor, we have assumed that the charges\u003cbr\u003eof the stored mobile ions in the medium layer has the same initial value of the\u003cbr\u003eelementary electric charges in the upper and conductive layer.\u003cbr\u003eAfter estimating the spatial charge of the electrons and ions, the stress-\u003cbr\u003echarge coupling is multiplied with the estimated value for having the value of\u003cbr\u003estress, force, strain, and curvature which is important for designing coupled\u003cbr\u003eactuators.\u003cbr\u003eFollowing, we have simulated forward and inverse approaches for estimating\u003cbr\u003ethe force and the desired potential field in each case for a coupled actuators.\u003cbr\u003eThe stress charge coupling can estimate the steady state final value of the\u003cbr\u003egenerated force, however, it doesnot capture the stress relaxation behavior or\u003cbr\u003esaturation phenomena occurs during the low frequency. We believe that under-\u003cbr\u003estanding the physics behind the actuation of ionic EAP artificial muscle could\u003cbr\u003elead us to design a desired artificial muscle for specific application and improving\u003cbr\u003etheir mechanical properties and response time as well.\u003cbr\u003e1","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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