Electroactive polymer actuated gripper enhanced with iron oxide nanoparticles and water supply mechanism for millimeter-sized fish roe manipulation

摘要

This paper presents an electroactive polymer (EAP) actuator controlled scissor-type gripper (Fig. 1). The EAP actuator is made of ion polymer metal composite (IPMC). By doping FeO nanoparticles into IPMC, the actuator exhibits larger force output and 2-fold increase of maximum deformation compared to the pure IPMC actuator. Using water retaining poly(N-isopropylacrylamide) (PNIPAAM) made water supply mechanism results in a 10-fold increase of actuation capability. Using the gripper to manipulate the millimeter-sized fish roe is verified.