A Dynamic Model of a Linear Actuator Based on Polymer Hydrogel

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Abstract
The design and analysis of a series of linear actuators based on polymer hydrogel is presented. The actuators use arrays of pH sensitive gel fibers together with a fluid irrigation system to locally and rapidly regulate the composition of the solution. A dynamic model is constructed for one of the linear actuators, which includes the polymer gel, fluidic system, and transmission mechanics. Emphasis in the design and mechanical modeling of the actuators is placed on the com plete system including not only the polymer gel, but also on the containment system, irrigation scheme, and servo valving system.