| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 413416 | Robotics and Autonomous Systems | 2014 | 8 Pages |
In this work, we explore a promising electroactive polymer (EAP), called ionic polymer–metal composite (IPMC) as a material to use as a multi degree of freedom actuator. Configuration of our interest is a cylindrical IPMC with 2-DOF electromechanical actuation capability. The desired functionality was achieved by fabricating unique inter-digitated electrodes. First, a 3D finite element (FE) model was introduced as a design tool to validate if the concept of cylindrical actuators would work. The FE model is based upon the physical transport processes—field induced migration and diffusion of ions. Second, based upon the FE modeling we fabricated a prototype exhibiting desired electromechanical output. The prototype of cylindrical IPMC has a diameter of 1 mm and a 20 mm length. We have successfully demonstrated that the 2-DOF bending of the fabricated cylindrical IPMCs is feasible. Furthermore, the experimental results have given new insight into the physics that is behind the actuation phenomenon of IPMC.
► Cylindrical multi DOF low voltage actuator based on ionic polymer–metal composites. ► Diameter of the actuator is 1 mm and bending angle up to 50°. ► Novel manufacturing technique to inter-digitate the electrodes. ► Physics based finite element model in order to calculate the deformation.
