HAL :: [hal-01006050, version 1] Integrated static and dynamic modeling of an ionic polymer-metal composite actuator
Ionic polymer-metal composites have been widely used as actuators for robotic systems. In this article, we investigate and verify the characteristics of ionic polymer-metal composite actuators experimentally and theoretically. Two analytical models are utilized to analyze the performance of ionic polymer-metal composites: a linear irreversible electrodynamical model and a dynamic model. We find that the first model accurately predicts the static characteristics of the ionic polymer-metal composite according to the Onsager equations, while the second model is able to reveal the back relaxation characteristics of the ionic polymer-metal composite. We combine the static and dynamic models of the ionic polymer-metal composite and derive the transfer function for the ionic polymer-metal composite's mechanical response to an electrical signal. A driving signal with a smooth slope and a low frequency is beneficial for the power efficiency.
