More Complex Configurations of IPMC Actuators

As discussed in the previous sections, there is a rather good understanding of the mechanisms and underlying processes of IPMC actuation. Furthermore, different models have been developed to precisely predict the deformation due to an applied voltage. The models can be categorized as physical models, black-box models, and gray-box models [Shahinpoor and Kim 

In the following, an equivalent beam and equivalent bimorph beam model for simple IPMC actuation is first presented. Thereafter more complex actuation configurations and corresponding modeling considerations are provided. 

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