A scalable model for tri-layer conjugated polymer actuator and experimental validation

Conjugated polymers have promising applications as actuators in biomimetic robotics and bio/micromanipulation.For these applications, it is highly desirable to have predictive models available for feasibility study and designoptimization. In this paper a geometrically-scalable model is presented for trilayer conjugated polymer actuatorsbased on the diffusive-elastic-metal model. The proposed model characterizes actuation behaviors in terms ofintrinsic material parameters and actuator dimensions. Experiments are conducted on polypyrrole actuators ofdifferent dimensions to validate the developed scaling laws for the quasi-static force and displacement output,the electrical admittance, and the dynamic displacement response.