Modeling of ICPF (ionic conducting polymergel film) actuator (3rd Report, Considerations of a stress generation function and an approximately linear actuator model)

In this paper, an approximately linear dynamic model of the ICPF actuator is proposed. According to the strategy in the last paper, linear modeling was carried out. A source of the internal stress for bending is the internal current since the speeds of both the bending and the internal current were the same. Moreover the magnitudes of both curvatures and simulational current were also in agreement with each other. The further the distance from the base was, the larger the curvature and the current were. To model bending motion to the cathode under a step input, an approximation that the internal current is differentiated with time before transferring to generative stress was taken with a 2nd-order delay. The simulation results obtained using the above model agreed with the experimental results.