Development of IPMC actuators with high bending uniformity and orientation

Ionic polymer-metal composite (IPMC) actuators have attracted considerable scientific interest in the field of robotics and artificial muscles due to their low operating voltage, high strain capacity, and lightweight. However, the non-uniform bending of IPMC actuators affects their control accuracy and limits their potential applications. In this work, the surface voltage of IPMC actuators was measured and the internal electric field distribution was numerically computed. It was concluded that the non-uniform bending is mainly due to the non-uniform distribution of hydrated cations inside the IPMC as a result of the inhomogeneous electric field. The bending uniformity is improved by sputtering a gold layer on the surface of the IPMC actuator, and a support strip is introduced to limit the bending of the IPMC in the width direction, resulting in an improvement of its pointing characteristics. It is found that the bending uniformity of IPMC improved by 35.27% and 119.48% by sputtering at an input voltage of 2.5 V and 5 V respectively. When the input voltage is fixed at 2.5 V and 5 V, the bending in the width direction is reduced by 75.68% and 93.12% with the support structure, respectively.