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.