Ion-Polymer Metal Composites IPMC

When equilibrated with aqueous solutions, the membranes are swollen and they contain a certain amount of water. Swelling equilibrium results from a balance between the elastic recovery force of the polymeric matrix and the water affinity to the fixed ion exchanging sites and the moving counterions. The water content depends not only on the hydrophilic properties of the ionic species inside the membranes, but also on the electrolyte concentration of the external solution. When an external voltage (usually of the 

Gripper with IPMC end-effectors (adapted from [217]) 

IPMC actuators usually operate best in a humid environment, even though they can be made as encapsulated devices to operate in dry conditions. Several applications have been investigated. These include fingers of an end-effector for a miniature low-mass robotic arm (Fig. 6.99), cilia sj tems and swimming robotic structures (Fig. 6.100) [217]. 

An example of the preparation of IPMC samples is reported on the following web site http //ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/IPMC PrepProcedure.htm. 

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