IPMC Embedded in a Pneumatic Soft Robotic Actuator: Preliminary Experiments in Actuation and SensingBehaviors

Abstract

The configuration of hybrid robotic actuator presented herein consists of a bending pneumatic actuator with an ionic polymer-metal composite (IPMC) embedded within the strain-limiting layer. The strain-limiting layer consists of a thicker layer of material on the pneumatic actuator that resists deformation and in-turn hinders motion. Pneumatic actuators rely on the geometric stiffening of the strain-limiting layer to produce a desired motion. In this hybrid actuator, an IPMC is inserted into the strain-limiting layer. This hybrid actuator is fabricated by using 3D printed molds. These molds are then cast using a silicone based elastomer such as Ecoflex®. The separate pieces of the pneumatic sleeve are then cast together using the same silicone based elastomer. Lastly, an IPMC is then inserted into the slot inside of the strain-limiting layer of the pneumatic sleeve. The objective is to create an actuator that possesses both actuation and sensing capabilities that can be applied to soft robotics. This actuator could be used for the testing and modelling of IPMC sensing because of the capability to test an IPMC using a controlled curvature. This hybrid actuator could also be used as a directional sensor or actuator, such as directional propulsion in underwater vehicles.