Slender tube-shaped and square rod-shaped IPMC actuators with integrated sensing for soft mechatronics

摘要: This paper describes the development of slender millimeter-size hollow (tube) and sub-millimeter-size solid (rod) shaped ionic polymer-metal composite (IPMC) actuators. The outer electrodes on IPMC actuators are sectored to enable control for multiple degrees freedom motion. Such small-size (high aspect ratio) can be used create active catheter devices, bio-inspired propulsion mechanisms in underwater autonomous systems, artificial cilia structures micro-fluidic other emerging soft mechatronic systems. An experimental tube-shaped actuator is fabricated from Nafion polymer tube with inner diameters 1.3 1.6 mm, respectively. Likewise, fabrication a sub-millimeter size square cross-section rod described, dimensions 150 μm by 500 μm. surface plated platinum metal via an electroless plating process. into four isolated using custom milling technique. Independent patterned results three-dimensional A strain sensor developed integrated sense bending motion as example its functionality. low cost avoids need bulky external sensors such lasers measuring deflection. Thus, employed practical applications including feedback control. characterized presented demonstrate performance.