Abstract
The force generated by a polypyrrole (PPy) actuator operating under isometric conditionshas been shown to decrease as the preload force applied to the actuator increases. Theorigin of the decrease in the force generated was found to be the change in modulus thatoccurs upon electrochemical stimulation of the polypyrrole. A simple analytical model isintroduced to describe these effects. The relationship between the force generated andthe actuator strain is explained using this model for both isometric and isotonicmodes of operation. In addition, different means for bundling PPy fibres wereinvestigated to optimize both the isotonic strain and the isometric force generated.
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