Abstract
Nafion based precious metal planting ionic polymer metal composite (IPMC) actuator is very attractive because of its high-speed response and softness of the material. The deformation characteristics, especially the generating direction of residual strain changes with the pH of the anion of the counter ion introducing solution. In the case of Au-Nafion type IPMC, to keep the residual strain to the initial strain side is the most important to use IPMC for the positioning control. In this paper, the deformation characteristic of IPMC by applying sawtooth voltage is clarified. IPMC generates larger initial deformation than normal step response experiments. The mechanism of the large deformation was proposed based on the author's mechanism of the residual strain.
