Modeling of ionic polymer metal composite actuator dynamics using a large deflectionbeam model

Abstract

This paper introduces a novel technique for modeling the dynamics of ionic polymer metalcomposites (IPMCs). The proposed finite element modeling technique combines a largedeflection beam model and lumped RC model. In this approach, a local coordinateframe attached at the first node of each element which undergoes rigid bodymotion and elastic deformation of the element is described with respect to the localcoordinate frame. The proposed model accounts for the large elastic deflection of eachelement. This modeling strategy has the advantage of accurately describing the largedeformation of the IPMC using a limited number of elements. Experimental results arefound to be in close agreement with those of simulating the proposed model.