An IPMC microgripper with integrated actuator and sensing for constant finger-tip displacement

Ionic polymer metal composite (IPMC) is a type of smart material that has gained the interest of many researchers due to its ability to achieve large displacements under small input voltages, usually less than 2.5 V. This has motivated the use of these materials in microsystems and systems in the millimeter scale, such as microgrippers. However, few of the control techniques developed thus far have considered the feasibility of using IPMCs in closed loop systems without the need of oversized external sensors. This paper presents a control scheme for a two-finger IPMC microgripper that accomplishes constant finger-tip displacements without external sensors. This scheme generates a displacement-dependent, time varying reference signal to obtain constant finger-tip displacements applied by a separate actuated IPMC. This actuator uses a PID controller tuned with a model-free approach, and is gain scheduled to span up to 1 mm finger-tip displacements. The microgripper achieves zero steady state error for finger-tip displacements on the tuned values of the PID controller. The gain scheduled PID controller is tested and results show zero steady state error to 0.25 mm displacements, and 15 and 20% steady state error when referenced to deflection of 0.45 and 0.75 mm, respectively. This shows that there is great confidence and validity of the control scheme, especially when tracking small reference deflections.