High-performance flexible actuators, integral components of soft robotics, hold promise for advancing applications in safe human-robot interactions, healthcare, and various other fields. Notable among these actuators are flexible electrochemical systems, recognized for their merits in low-voltage manipulation, rapid response speed, and cost-effectiveness. However, the optimization of output strain, response speed, and stability presents a significant challenge in this domain. Despite the application of diverse electrochemically active materials to enhance actuation performance, a critical need persists for corresponding electrical-mechanical models to comprehensively grasp actuation mechanisms. In this study, we introduce a novel electrochemical actuator that utilizes conductive polymer ionogel as active electrodes. This ionogel exhibits exceptional properties, including high conductivity, flexibility, and electrochemical activity. Our electrochemical actuators exhibit noteworthy bending strain capabilities and rapid response rates, achieving frequencies up to 10 Hz at a modest voltage of 1 V. An analytical model integrating ion migration and dynamic processes has been established to elucidate actuator behavior. Simulation results highlight that electrodes characterized by low resistance and high capacitance are optimal for simultaneous enhancement of bending strain and blocking force. However, the augmentation of Young's modulus, while increasing blocking force, compromises bending strain. Furthermore, a larger aspect ratio proves beneficial for unidirectional stress output, leading to increased bending strain, while actuator blocking force diminishes with greater length. These findings underscore the intricate interplay between material properties and dimensions in optimizing the performance of flexible electrochemical actuators. This work provides important practical and theoretical guidance for the manufacture of high-performance flexible actuators and the search for new smart materials.
Keywords: conductive polymer; drive travel; electromechanical model; flexible actuator; load capacity.