Kinematics of gel robots made of electro-active polymer PAMPS gel

Abstract

Introduces and describes a kinematic model based on a chemical reaction to control robots made of soft materials, poly (2-acrylamido-2-methylpropane sulfonic acid) gel (PAMPS gel). Experiments were conducted using a prototype mechanism whose energy is supplied by applying an electric field in a surfactant solution. We have verified the validity of our model by comparing the experimental and simulation results obtained by bending a flexible strip of PAMPS gel under a uniform electric field.