A multi-degree of freedom bending actuator based on a novel cylindrical polyvinyl chloride gel

In this work, we investigate PVC gels, a material which responds to electric stimuli, for use I as multi-directional bending actuators. PVC gel bending actuators have been studied, however none of these allow for multidirectional control. PVC gels offer many favorable properties in comparison to other electroactive materials, such as the ability to move in air, high displacement, low power requirements, and lower voltage requirements than other electroactive polymers. A bending actuator which can be controlled to bend in multiple directions is fabricated and tested for its mechanical properties. A mathematical model which can predict actuator motion is also presented.