Development of an ionic polymer–metal composite stepper motor using a novel actuator model

A novel ionic polymer–metal composite (IPMC) actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC systems. The motor was developed by utilizing a novel model for IPMC actuators integrated with the complete mechanical model of the motor. The dynamic, nonlinear IPMC model can accurately predict the displacement and force actuation in air for a large range of input voltages as well as accounting for interactions with mechanical systems and external loads. By integrating this geometrically scalable IPMC model with a mechanical model of the motor mechanism an appropriate size IPMC strip has been chosen to achieve the required motor specifications. The entire integrated system has been simulated and its performance verified. The system has been built and the experimental results validated to show that the motor works as simulated and can indeed achieve continuous 360° rotation, similar to conventional motors. This has proven that the model is an indispensable design tool for integrated IPMC actuators into real systems. This newly developed system has demonstrated the complete design process for smart material actuator systems, representing a large step forward and aiding in the progression of IPMCs towards wide acceptance as replacements for traditional actuators.