IPMCs as linear actuators

The actuation principle of IPMCs is based on the electromechanically induced bending. At the same time, in nature, biological muscles utilize 

Based on this analysis, a muscle-like linear actuator was conceptually constructed (see Fig. 2.47 (a)). The linear actuator is composed of rectangular-shaped elementary units along the axial direction, and each elementary unit expands or contracts under an applied voltage. The accumulated bending displacements result in a large actuation displacement 

For the calculations, the length of IPMC was varied from 0 to 5.5 mm (see Fig. 2.48 for the definition of IPMC length). If the length is 5.5mm, then the unit consists of only IPMC, i.e. the sides are not of Nation. Conversely, the simulations show that the axial stiffness of an elementary unit 

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