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In this paper, a white-box model of Nafion-Pt composite actuators considering the following physical phenomena is proposed: 1) ionic motion by electric field, 2) water motion by ion-drag, 3) swelling and contraction of the membrane, 4) momentum effect, 5) electrostatic force, and 6) conformation change. Computer simulation showed the following results. 1) The simulated motions agreed with experimental results improving the accuracy in comparison with the conventional models, especially on the time of the maximum displacement. 2) The nonlinear relation between input voltage and the maximum displacement was explained.

The ICPF (Ionic Conducting Polymer gel Film) actuator is a new high polymer gel actuator by which revolutionary robotic mechanisms are expected. Actuator models for CAE are essential to the robotic design. However, present black/gray-box models of ICPF cannot express its nonlinear characteristics with enough accuracy, In this paper, a white-box actuator model is proposed on the basis of physicochemical hypotheses on the motion principle which are supported at present. In this model, travel of sodium ions and water molecules in the actuator membrane is modeled. Internal stress is generated by swell and contraction of the gel by water content change, electrostatic force of jixed sulfonic acid groups, and momentum conservation effect. Simulation results show higher accuracy on transient response and nonlinear characteristics in comparison with conventional models.

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