Dynamic Modeling of Segmented Ionic Polymer Metal Composite (IPMC) Actuator

In this paper, we introduce an analytical modeling approach for dynamic shape characterization of the ionic polymer metal composite (IPMC) actuator under the input voltages based on the RC electrical model and mechanical beam model. The proposed method can be used for modeling the general IPMC bending actuator in a single segment or multiple segments or patterned form. The segmented design offers more flexibility in controlling the shape of the actuator when compared with the single-segment design as it can be used to generate undulatory wave form instead of a simple oscillation form. Considering the inherent nature of large deformation in the IPMC actuator, a large deflection beam model is developed and augmented with the electrical RC model to present a state space model of the actuator system. Experimental results are compared with the computer simulated IPMC actuator model to validate the proposed model