An IPMC-made deformable-ring-like robot

In this paper application of ionic polymermetal composite (IPMC) as an actuator in a deformable circular robot is studied. Large bending deformation induced by small stimulating voltage, low stiffness and the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application. Here, first a model for IPMC is proposed that can be used in simulating different arrangements of actuators. The parameters of the model are determined using results of blocked force and free displacement tests. Using this model, potentials of an IPMC-made ring-like robot in passing obstacles and the effect of the number of segments on the rings performance are investigated. Next, the result of an experiment on a ring made of six segments is presented and the applicability of the proposed design is confirmed. In future, by modifying the fabrication process and implementing more elaborate control schemes, faster and steadier movement can be achieved.