Modeling of a contraction type PVC gel actuator

A poly vinyl chloride (PVC) gel actuator shows great potential for use as a new type of actuator because of such positive characteristics as movement in the air, large deformation, and being lightweight. We have proposed a structure of a contraction type actuator using the plasticized PVC and mesh type electrodes [4]-[6]. As the next stage, in this paper we aimed to build a mathematical model of electronic and mechanical characteristics of PVC gel actuator to apply it as a control element. Firstly, Col-Col plots were measured by an impedance meter to obtain the equivalent circuit of the electrical characteristics. Secondly, the relationship between the electric current and contraction force was obtained experimentally to determine the conversion model from electric energy into mechanical energy, and the mechanical deformation model of the PVC gel actuator was obtained. Finally, the mathematical model of whole PVC gel actuator was derived by combining the models of three parts. Since the proposed mathematical model is simple, we may use the model for the analysis of the characteristics of the actuator.