Active Vibration Suppression of a Flexible Link Using Ionic Polymer Metal Composite

Polymers labeled as EAPs (electro-active polymer) have a mechanical response to electrical stimulation and produce an electric change in response to mechanical stimulation. The high strains of ionic polymer metal composite (IPMC) make them attractive as mechanical actuators for applications requiring large motion but little force. This paper describes the results an application of IPMC as active damper for a flexible link. IPMC is studied experimentally to find out material loss factors and damping characteristics. A single link rotary flexible manipulator with IPMC as smart patches was studied for attenuation of vibration actively. Modeling of the flexible rotating beam with IPMC has been done using modal approach to determine the fundamental modes of vibration. The end effector position of link was controlled by generating localized bending by giving input current to the IPMC in a phase opposite to the excitation. The results prove that IPMC can be used as an active damper for suppressing vibration in a flexible link