Linear and platform type robotic actuators made from ion-exchange membrane-metal composites

In this research, feasibility of using ion-exchange-membrane-metal composite artificial muscles as linear platform type actuators was studied. In order to achieve linear motion from these typically bending type actuators, a series of muscles made from ion-exchange-membrane-metal composites were cut in strips and attached either end-to-end or to one fixed platform and another movable platform in a cylindrical configuration. By especially prepared electrodes embedded within the platforms one can convert the bending response of each strip into linear movement of the mobile platform. By applying a low voltage the movement of free end of the actuator could be calibrated and its response could be measured, accordingly. A theoretical model was developed and was compared to experimental results. Ion-exchange-membrane-metal composites are highly active actuators that show very large deformation in the presence of low applied voltage and exhibit low impedance.