Megan Sesslar Moore

Electroactive polymer (EAP) mobility device

Ionomeric polymer-metal composites (IPMCs) are a class of electroactive polymers (EAPs) that silently bend and exert force in response to an applied voltage. In this work, a unique design is presented where IPMCs are used to accomplish rotary motion. A novel feature is that EAP actuation is used in conjunction with gravity to cause rotation. This idea could be used to create a self-driven roller device. Such a roller could resemble a wheel with a circular or cylindrical geometry, or a sphere capable of rolling in all directions. Numerical simulations were performed that show a two dimensional roller device can accomplish rolling motion as a result of IPMC actuation. Experimental data on the deformation performance of fabricated IPMCs was used to drive the numerical simulations of the device. A possible application of this mechanism could be a mobility device on the centimeter scale that can transport a payload silently to a target destination.