Modeling of ion-conducting gel actuator considering substantial motion and control of distribution of internal stress

本研究的目的是：(1)基于离子迁移的设计与控制建模（电场离子迁移、水分子运动与扩散、含水量膨胀与收缩、静电力、侧向应变、构象变化引起的分布内应力建模）和(2)电场图案设计（电场图案设计和内应力分布控制）。研究结果总结如下：1)钠离子迁移和水的运动和扩散的电化学建模2)动量效应、水的膨胀和收缩、静电力的建模3)粘弹性有限元建模4)磺酸离子偏离引起的侧向应变建模5)有限差分法理论方程的稳定数值解6)仿真程序的开发及其与有限元软件的关系7)粘弹性参数和膨胀比的实验识别8)仿真结果与实验结果的对比验证（定性有效性得到验证）9)电气系统的设计PVA-DMSO凝胶致动器上行波场图和电极位置10)在ICPF表面上制作电极图的掩蔽技术的发展11)控制内应力分布对行波的实验验证

The objective of this research is (1) modeling for design and control on the basis of ionic migration (modeling of distributed internal stress caused by ionic migration by electric field, motion and diffusion of water molecules, swelling and contraction by water content, electrostatic force, lateral strain, conformation change), and (2) design of electric field patterns (design of electric field patterns and control of internal stress distribution).Research results are summarized as below.1) Electrochemical modeling of migration of sodium ions and motion and diffusion of water2) Modeling of momentum effect, swelling and contraction by water, electrostatic force, and conformation change3) Modeling of visco-elasticity by FEM4) Modeling of lateral strain caused by deviation of sulfonic ions5) Stable numerical solution of theoretical equations using method of finite difference6) Development of simulation programs and relation with FEM software7) Identification of viscoelastic parameters and swelling ratio by experiments8) Verification by comparison of simulation results with experimental results (qualitative effectiveness was verified)9) Design of electric field patterns and electrode locations for traveling wave on PVA-DMSO gel actuator10) Development of masking technique for electrode pattern fabrication on ICPF surface11) Experimental verification of traveling wave by control of internal stress distribution