Overview of Smart Materials

Bishakh Bhattacharya
Department of Mechanical Engineering
Indian Institute of Technology, Kanpur
 LECTURE 4:

Active Smart Polymers

(Part 1)
Inspirations from Animal Locomotion
Motor based Rigid Robots

Snake Like – ACM R5

Bi-pedal Walking Robot M2

Quadruped Stair-
climber Titan - 6
Muscle based Flexible
Robots

Pneumatic Artificial Muscle

(PAM)
 Organization
• What is Active Smart Polymer?
• Classifications of Electro-active Polymers
• The Constitutive Relationship
• Actuators Developed using EAP
• Sensors Developed using EAP
• Future of IPMC
 What is Active Smart Polymer?

• Polymers that respond to external stimuli by

changing shape or size are known as active
smart polymer. These are of two categories:
• Active Polymers that respond to input stimuli
such as pH, magnetic field and light; eg pH
sensitive Polyanionic Cellulose (PAC).
• Electro-active Polymers that respond to the
change of electrical input. Also known as
EAP.
 Active Smart Polymer
Response to light due to
Azobenzene groups,
contain N=N double bonds.

Under visible light N=N

bonds have a cis
conformation - the polymer
is bent.

Under UV light source the

bonds become trans and
the polymer flattens.

https://www.youtube.com/watch?v=
wmV6UQTjl6E
 EAP infrastructure
IonicEAP Electronic EAP
Conductive Dielectric Graft
EAP material pool Ionic Gel IPMC Nanotubes Ferroelectric
polymers EAP elastomer

EAP mechanism Nonlinear

Material properties Ÿ Computational chemistry
understanding and electromechanical
enhancement characterization Ÿ New material synthesis
modeling

Support processes and

Material Shaping Microlayering
EAP processing integration (electroding, Miniaturization
fabrication (fibers, films, (ISAM & inkjet
protective coating, techniques
techniques etc.) printing)
bonding, etc.)

Tools/support elements Sensors Actuators MEMS

Miniature Robotics General applications and devices

Ÿ Insect-like robots Ÿ Medical devices
Devices/Applications Ÿ End effectors Ÿ Shape control
Ÿ Manipulators Ÿ Muscle-like actuators
Ÿ Miniature locomotives Ÿ Active weaving and haptics
Comparison between EAP & Other Smart
Materials
Classification of Electro-active Polymers
(EAP)
EAPs are broadly classified into two groups
– Electronic EAP and Ionic EAP
Electronic EAP (EEAP) Ionic EAP (IEAP)

Dielectric EAP Ionic Polymer Gels (IPG)

Electrostrictive Paper Ionic Polymer Metal

Composite (IPMC) Nafion &
Flemion
Ferroelectric Polymers Conducting Polymers Ppy, PA

Liquid Crystal Elastomer Carbon Nanotubes (CNT)

“In electronic EAPs, the electric field applies coulomb attractive forces to the
electrodes. This causes the change in size and shape due to compressive forces.
With ionic EAPs, the mobility and diffusion of ions changes the shape.”
Comparisons between EEAPS and IEAP

• Electronic EAPs need high activation voltage

(> 150 V/μm).
• Materials have high energy density and rapid
response time.(in milliseconds)
• IEAPs require small driving voltage (1-5V).
• However, IEAP has slow response time and
performs better under wet condition.
 Timeline of Development
• 1880: Wilhelm Röntgen – Electric Current
Changes the Shape of Rubber-band
• 1978 : Toyoichi Tanaka – Smart Hydrogel – Gels
swelling 1000 times of its volume
• 1993 : Oguro – Electroactive Nafion
• 2000 : Schreyer – Electroactive PAN Fibre
• 2002 : Shahinpoor – Ionic Polymer Metal
Composite
 Exploration of planetary applications
Dust wiper

Sample handling robotics

 Applications
Underway or under consideration
• Mechanisms • Medical Applications
– Lenses with controlled configuration – EAP for Biological Muscle
– Mechanical Lock Augmentation or Replacement
– Noise reduction
– Miniature in-Vivo EAP Robots for
– Flight control surfaces/Jet flow control Diagnostics and Microsurgery
– Anti G-Suit
– Catheter Steering Mechanism
• Robotics, Toys and Animatronics – Tissues Growth Engineering
– Biologically-inspired Robots – Interfacing Neuron to Electronic
– Toys and Animatronics Devices Using EAP
• Human-Machine Interfaces – Active Bandage
– Haptic interfaces • Liquid and Gases Flow Control
– Tactile interfaces
– Orientation indicator • Controlled Weaving
– Smart flight/diving Suits – Garment and Clothing
– Artificial Nose
– Braille display (for Blind Persons)
• MEMS
• Planetary Applications • EM Polymer Sensors
– Sensor cleaner/wiper &Transducers
– Shape control of gossamer structures
Electro Active Polymer
 Making IPMC

• Create a SiO2 layer on Silicon Wafer by thermal

oxidation.
• Deposit a sacrificial Aluminium Layer on it.
• Vapour Deposit a layer of Gold/Silver over it with
Chromium as interim layer.
• Spin Coat with Nafion Solution in several
Layers.
• Sputter Gold/Silver Layer.
• Deposit the Sample in Phosphoric Acid at 400 C
for Al to dilute and Release.
 Composition of Nafion
Nafion is a Perfluorinated copolymer of
PolyTetraFluoroEthylene (PTFE) and a
Perfluorinated Vinyl Ether Sulfonate.

PTFE: Source of Strength

Sulfonate Group:
Source of Polarity
Cluster Network Model
 Composition of Nafion
Varying the nature of the Vinyl Ether side
chain gives routes to alternative species,
usually through:
the Addition of single CF2 groups (Aciplex)
or
Modification of the length of the side chain
(Flemion).
 Effect of Copolymerization
• Within a limited range, the ratio of
monomers can be used to tailor the
polymer equivalent weight (grams dry
polymer per mole of ion), although large
variation can significantly influence the
strength, flexibility, and stability of the
resulting membranes.
 How does an IPMC work?

• IPMC consists of a Polymer matrix

sandwiched between two metallic layers.
• The polymer consists of a fixed network with
negative charges balanced by mobile positive
ions.
• When subjected to DC voltage – there will be
accumulation of cations near cathode – water
molecules will move towards this side causing
hydrophilic expansion.
 Anode Boundary

• Under an electric field, Cations redistribute

and migrate toward the cathode. This
redistribution produces several significant
changes in the local properties of the
composite, specific to the anode and cathode.
• At the anode, the application of the electric
field results in depletion of Cations from their
clusters. We refer to this thin layer as the
Anode Boundary Layer.
 Anode Boundary
(1) A decrease in the effective stiffness of
the polymer
(2) A repulsive electrostatic force among the
fixed anions which tends to increase the
average cluster volume and also relax the
prestretched polymer chains between
adjacent clusters. This leads to an increase
in the associated entropy and a decrease in
the elastic energy of the polymer; polymer
chains coil back to lower energy states.
 Anode Boundary
(3) Reorientation of the remaining water in
the clusters, which tends to increase the
effective electric permittivity of the clusters
and hence reduce the electrostatic repulsive
forces among the fixed charges.
(4) A decrease in the osmotic pressure
inside the clusters, due to the reduced ion
concentration.
(5) Removal or addition of water (solvent), in
response to reduction or increase in the
average volume of the clusters.
 Cathode Boundary
At the cathode, another boundary layer is formed
in which local clusters contain an excess in the
cation concentration. We refer to this thin layer
as the Cathode Boundary Layer. The excess
cations may produce any of the following:
(1) An increase in the effective stiffness of the
polymer.
(2) A change in the attractive electrostatic force,
which tends to hold the fixed anions more
tightly within the cluster ….
 Cathode Boundary
Decreasing the associated entropy and
increasing the elastic energy of the polymer.
(3) A reduction in the effective electric
permittivity of the clusters, which tends to
increase the electrostatic forces .
(4) An increase in the osmotic pressure
within the clusters, due to the increased ion
concentration.
(5) Removal or addition of water (solvent)
 How does an IPMC work..?

• The polymer matrix will bend towards the

anode side.
• With time, there will be a back diffusion of
water molecules causing a slow relaxation
towards cathode.
• Extent of Actuation depends on type of
polymer, type of counter ion, presence of
moisture, quality of metallization.
IONIC POLYMER METAL COMPOSITES

• Ionic electro active polymer • Low actuation voltages

• Large deformation • Fast response

Schematic Diagram of IPMC

Developing Double Curvature using IPMC
 Double Bending in Selemion
• This IPMC consisted of
Selemion and the left
half of its top and
bottom surfaces coated
with Au foils using a
paste, and the right half
of its top and bottom
surfaces coated with
Dotite.
• Dotite is an electrically
conductive adhesive
containing silver
Selemion is a generic name of ion exchange membranes
powder manufactured
manufactured by Asahi Glass
by Fujikura Kasei Co.,
Ltd. (Tokyo)
 MODELLING OF IPMC AS ACTUATOR

• Phenomenological
modelling
• Equivalent circuit model
• Based on thermodynamics
and mechano-chemical
relationships

Curvature –voltage relationship from experiments

M E I
32
Bimorph Geometry

A Bimorph Actuator Configuration

 Constitutive Equation
S: strain
T: Stress

Ts t: layer thickness

Ss  E: Modulus of Elasticity

Es V: App. Voltage
d: Elect-Mech. Coeff.
Tu V
Su  d
Eu tu
Tl V
Sl  d
El tl
 Useful Model

x  a 11f  a 12 v x: displacement

q  a 21f  a 22 v f: force
v: voltage
2
 U U: Total strain energy
a 11  2
f
2
 U
a 12  a 21 
fv
2
 U
a 22  2
v
 IPMC based Actuators

• Single Link Manipulator

• Multi-link Gripper
• Vibration Generation and Control
• 4-bar Manipulator
• Bio-mimetic Systems
 Types of actuation

1. Single electrode(1 DOF)

The end point can be moved on a curve

Combination of Single links to form Gripper

Ref. electrochem.cwru.edu
 2. Two or more patches

The end point can be moved on a planar work-volume

• A small object can be manipulated in the work-volume
• DOF available will depend on the number of patches
3. IPMC induced vibration of Flexible Beam
Reduction in Tip Deflection of the Flexible Beam
Application to Flexible Manipulator

System Parameters of the Flexible Beam

Potential Energy of the System
Virtual Work on the System
Dynamical EOM
IPMC based 4-bar mechanism
Generation of work-volume using 4-bar
IPMC
Inverted IPMC film Sensor

Sahinpoor and Bar Cohen 1998

 Future of Smart Polymers

• Higher ‘IQ’ – ‘responsiveness’ –larger actuation

corresponding to smaller stimulation, ‘agility’ – faster
response – increasing the bandwidth of the existing
smart materials.
• Higher order ‘functionality’- self-sensing, self-
actuation, self-healing, auto-phagous, energy harvesting,
energy scavenging.
• Exploit the success in ‘nano -technology’ and develop
more ‘varied’, ‘complex’ and ‘intelligent systems’.
 Gold/ Polypyrrole : A new IPMC

Ppy_mov.mpg

Eg: Artificial muscles

Concept of an Integrated Gripper-Manipulator

Object Entrapped
Capacitance Sensor

Smart Compliant
Link

Embedded
Controller
Lips: Design of Biomimetic System
 References

• Electroactive Polymers for Robotics

Applications – Kim and Tadokoro
• Smart Structures – Paolo Gaudenzi
END OF LECTURE 4