A reduced dimensional mapping approach for modeling IPMCs with computational efficiency and rapid design development applications

Abstract

Multiphysics modeling of ionic polymer–metal composite (IPMC) actuator is an expansive field of research. New models that consider more detailed physics and interaction phenomena are continually being developed and tested. While the development of more robust models is important, there is not as much focus on the utility of full multiphysics models and their applications to soft-robotic systems. Here, a new reduced dimensional mapping (RDM) approach is applied to IPMC actuators. The RDM approach is first described and demonstrated as a suitable alternative for more traditional modeling of IPMC actuators, while providing increases in computational efficiency. Then, the RDM approach is used to demonstrate the use of multiphysics IPMC models in the design and development of IPMC based soft-robotic systems. The RDM approach is shown to provide increases in computational efficiency and allows for complex soft-robotic designs to be modeled with a full accounting of the complicated physics involved in IPMC actuators.