Analysis of Time Dependent Bending Response of Ag-IPMC Actuator

Abstract In this work, time dependent bending characteristics of Silver electrode Ionic Polymer Metal Composite (IPMC) has been studied under potential gradient. Euler-Bernoulli approach has been followed for obtaining the bending moment generates taking into account of the applied voltage. Kinematic modeling is done for the Ag-IPMC actuator after constituting the homogeneous coordinate transformation. Based on the forward kinematic model, energy based dynamic model of the IPMC actuator has been formulated following the Lagrangian principle. The motion of the patches is restricted as planar in 2D. Simulation has been done for Ag-IPMC actuator based on the experimental deflection data to demonstrate the time dependent response for different sequence of input voltages.

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