Modelling and performance enhancement of a linear actuation mechanism using conducting polymers

In this paper, we report on our investigation into modelling and

performance enhancement of a linear actuation system based on cantileveredtype

conducting polymer actuators, which can operate in air and aqueous media.

We have employed the model to predict the linear displacement and force

output of the actuation system, and to determine the optimum values of the

system design parameters. The linear actuation system is a five bar parallel

mechanism, articulated with two polymer actuators. Kinematic and force

analyses of the mechanism including numerical results are presented, and its

payload handling ability was experimentally evaluated. The experimental

results prove that it is possible to generate an accurate linear movement and a

corresponding rectilinear force from this mechanism. This mechanism can be

employed as a motion and force transmission mechanism, which not only has a

light weight, but also consumes a small electrical power.