Theoretical Modeling and Dynamic Characteristics of a Cantilever IPMC Actuator

외팔보형 IPMC 구동기의 이론적 모델링과 구동특성

IPMC(Ionic Polymer-Metal Comosite) exhibits large deformation, having great attention in many application fields. It generates bending moment by ion exchange polymer film. It can be quickly bended by the applied voltage across the plated electrode of the polymer film. In the present paper, we derive the theoretical modeling and dynamic analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. The theoretical model of a cantilever IPMC actuator estimates the moment produced by the applied voltage. The dynamic characteristics, including natural frequencies and frequency response, are calculated by the theoretical model, and they are compared with the experimental results and finite element analysis. It is shown that the mathematical modeling allows precise estimation to the voltage-driven motion of the cantilever IPMC in air.