A numerical model for electro-active polymer actuators with experimental validation

This paper presents a theoretical model for predicting the behavior of electro-active polymer actuators. This model takes the form of an array of masses with the interconnecting forces derived using Hooke's law coupled with an electrostatic force, and is solved using time-marching integration. Forming the model in this way allows the response of actuators of various sizes and pre-strains to be simulated with a range of electrode designs and mechanically stiffened sections. To validate the response of the model a series of Nusil MED4905 polydimethylsiloxane actuators were built and tested with differing electrode designs and with additional mechanical stiffening of the membrane. Through a comparison of maximum electrode displacement, with applied electrode voltage, tracking of a grid on the membrane surface and dynamic testing, the model was found to show excellent agreement with the experimental results.