A nonlinear scalable model for designing ionic polymer-metal composite actuator systems

This paper proposes a conclusive scalable model for Ionic Polymer Metal Composites (IPMC) actuators and their interactions with mechanical systems and external loads. This dynamic, nonlinear model accurately predicts the displacement and force actuation in air for a large range of input voltages. The model addresses all the requirements of a useful design tool for IPMC actuators and is intended for robotic and bio-mimetic (artificial muscle) applications which operate at low frequencies. The response of the IPMC is modeled in three stages, (i) a nonlinear equivalent electrical circuit to predict the current drawn, (ii) an electro-mechanical coupling term, representing the conversion of ion flux to a stress generated in the polymer membrane and (iii) a mechanical beam model which includes an electrically induced torque for the polymer. Mechanical outputs are in the rotational coordinate system, 'tip angle' and 'torque output', to give more practical results for the design and simulation of mechanisms. Model parameters are obtained using the dynamic time response and results are presented demonstrating excellent correspondence between the model and experimental results. This newly developed model is a large step forward, aiding in the progression of IPMCs towards wide acceptance as replacements to traditional actuators.