Dynamic model of ICPF (ionic conducting polymer film) actuator

An ionic conducting polymer film (ICPF) actuator is a filmy composite made of perfluorosulfonic acid (PFS) membrane and surface platinum layers. It has many merits of low driving voltage, quick responsiveness, high durability, possibility of miniaturizability, and distributableness. In this paper, modeling of ICPF actuator is discussed. There are three stages in the model: an electric stage, a stress generation stage, and a mechanical stage. A linear electric characteristic model was built as the first element of the model of which input is voltage. Electric current is the input for the stress generation stage. Characteristics of time derivative and second-degree delay exist in generation of internal stress. The actuator material includes mechanical internal friction in addition to hysteresis. From many experiments and analyses, a linear approximation model with identified parameters was proposed