A bio-inspired multi degree of freedom actuator based on a novel cylindrical ionic polymer-metal composite material

• Published in: 2011 15th International Conference on Advanced Robotics (ICAR) pp. 435 - 440
• Main Authors: Kim, S. J., Pugal, D., Wong, J., Kim, K. J., Woosoon Yim
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2011
• Subjects: Actuators; Educational institutions; Electrodes; Force; Force measurement; Mathematical model; Polymers
• DOI: 10.1109/ICAR.2011.6088584
• ISBN: 1457711583; 9781457711589

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. Firstly, 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. Secondly, 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.