A physics model of the multi-degree freedom ionic polymer-metal composite cylinder actuator

Document Type

Conference Proceeding


In current paper, a multi-degree freedom IPMC cylinder actuator was developed. The IPMC actuator was theoretically modeled and experimentally investigated. The surface electrode of the IPMC actuator was mechanically processed. By selectively activating specific regions of the IPMC actuator, multi-degree freedom locomotive behaviors can be achieved. A physical-based model of the IPMC actuator was developed based on the Poisson-Nernst-Planck system of equations. Experiments were conducted to verify the model. A good agreement between the theoretical results and experimental results is achieved. Current study may be useful on the fabricating, modeling and controlling of multi-degree freedom IPMC cylinder actuators. © 2016 SPIE.


actuator; dynamic model; ionic polymer-metal composite; multi-degree freedom

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