IPMC-based actuators in multi-layer configurations

4 IPMC-based actuators in multi-layer configurations 

As seen in the previous sections, the IPMCs are able to produce simple deformation when a voltage is applied to the electrodes. However, by altering the surface resistance or combining the IPMCs in a different way, 

Var Lng colon IndlcaU dMYcrcn[ surface cJcctrodc propertjojii rc] it ting in (he nnjil incur hcltavlor illustrated below 

The Maple 9 solution of a three-layered IPMC versus experimental measurements are shown in Fig. 2.52. The input data for the model is shown in the figure as well. It must be noted that the response time of this IPMC configuration is much slower than that of typical IPMCs. This is most likely due to the contact resistance incurred by the sandwich structure that includes small leads placed between them to measure the voltage, as well as the effects from the clamped configuration. However, the values of the circuit model were adjusted accordingly to have a larger interfacial resistance and the model behavior is quite similar to that of the actual IPMCs. 

The force response of the multi-layered IPMC was also investigated. Eq. (2.45) that was developed by De Gennes et al. to describe the mechanical torque of the IPMC was used [P. G. de Gennes et al. (2000)]  

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