Analytical dynamic modeling of a cantilever IPMC actuator based on a distributed electrical circuit

摘要

Ionic polymer–metal composite (IPMC) has a wide range of applications in robotics, biomedical devices and artificial muscles. The modeling of the IPMC actuator is a multi-physics task as it involves electricity, chemistry, dynamics and control. Due to its complexity and its nonlinearity, IPMC modeling is difficult and its behavior is still not fully agreed upon by researchers.