The ionic conducting polymer gel film (ICPF) actuator is a perfluorosulfonic acid membrane plated with platinum on its both surfaces. It bends in water and in wet condition by applying a low voltage of 1.5 V to its surfaces. This phenomenon was discovered in 1992. The principle of the motion is still unknown. This paper discusses 2-dimensional linear approximate modeling of the ICPF actuator. The authors are proposing a dynamic model of the actuator consisting of an electrical stage, a stress generation stage and a mechanical stage. In the stress generation stage, time derivative of current generates the internal stress with a second degree delay. Expansion and contraction of each surface induce bending motion in the mechanical stage. Simulation results were in agreement with actual responses.
|Number of pages||7|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 1996|
|Event||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
Duration: 1996 Apr 22 → 1996 Apr 28