Sectored-electrode IPMC actuator for bending and twisting motion

Abstract

The development of ionic polymer-metal composite (IPMC) actuators with sectored electrodes for bending and twisting motion is discussed. The application of such IPMCs include highly-dexterous and efficient biorobotic systems and biomedical devices (e.g. , active catheters). The sectored-electrode pattern on the IPMC actuator is created using two techniques: masking and surface machining. The bending and twisting performance of a prototype actuator is evaluated and compared to a finite-element model. Experimental results demonstrate twisting angle exceeding 7 degrees for an IPMC actuator with four pairs of electrodes having dimensions 50 mm×25 mm×0.23 mm. Technical design challenges and performance limitations are also discussed.