Design of Soft Actuators using Ionic Polymer Metal Composites

D. M. G. Preethichandra1, B. G. L. T. Samaranayake2, A. M. U. S. K. Alahakoon2 and K. Kaneto1
1Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Hibikino, Wakamatusu-Ku, Kitakyushu-Shi, Japan
2Department of Electrical and Electronics Engineering, Faculty of Engineering, University of Peradeniya, Peradeniya, Sri Lanka

This paper characterizes and models the bending motion of the strip-type Ionic Polymer Metal Composites (IPMC) actuators using the theory of Large Deflections of Beams. From here it derives a thermal analogy.

The mathematical model has been experimentally verified for an actuator with the dimensions 25mm×2.6mm×0.44 mm.

Theoretical and experimental results are compared to show the validity of the model in predicting the displacement output of the strip type-IPMC actuator as a function of the applied voltage.