A Multiphysics Frequency-Dependent Model of an ${\rm IP}^{2}{\rm C}$ Actuator

Ionic polymer-polymer composites (IP²Cs) are electroactive polymers which can be used both as sensors and as actuators. In this paper, a new multiphysics model of IP²Cs working as an actuator is presented and implemented using a finite element methods solver (COMSOL Multiphysics). The model involves electrical, mechanical, chemical, and thermal effects and yields a unique solution. Knowledge acquired by measuring campaigns has been included in the model. More specifically the frequency dependence of Young's modulus was experimentally determined and introduced in such a model. A frequency-domain investigation is performed and a model optimization procedure that integrates the Nelder-Mead simplex method with the COMSOL Multiphysics models is exploited to identify IP²C model parameter by fitting experimental data. A fractional order dynamics has been identified in the model, confirming previous studies on IPMC gray box modeling and on electroactive polymeric devices.