A model of ionic polymer–metal composite actuators in underwater operations

Abstract

Ionic polymer metal composites (IPMCs) are active materials that exhibit a bi-directionalelectromechanical coupling: a voltage produces membrane bending, while by bending anIPMC membrane a voltage output is obtained.IPMCs are of increasing interest in a number of application fields. More specifically, IPMCscan work in wet environments, even in water, and this represents a valuable capability in anumber of applications fields such as underwater robotics, surveillance, and biomedicalapplications.In this work a totally new model of an active IPMC beam, solicited by a voltage signal andimmersed in water, is introduced. The model estimates the moment produced by theapplied voltage. Therefore, the classical Euler–Bernoulli cantilever beam theory and theconcept of hydrodynamic function are used to describe the interaction between the beamand the water. Knowledge of this interaction allows estimation of the IPMC active beammotion in water.