PREPARATION, PHYSICOCHEMICAL CHARACTERIZATION, AND MICROROBOTICS APPLICATIONS OF POLYVINYL CHLORIDE- (PVC-) BASED PANI/PEDOT: PSS/ZRP COMPOSITE ...
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Advances in Materials Science and Engineering
Volume 2019, Article ID 4764198, 11 pages
https://doi.org/10.1155/2019/4764198
Research Article
Preparation, Physicochemical Characterization, and
Microrobotics Applications of Polyvinyl Chloride- (PVC-) Based
PANI/PEDOT: PSS/ZrP Composite Cation-Exchange Membrane
Mohd Imran Ahamed,1 Inamuddin ,2,3,4 Abdullah M. Asiri,2,3 Mohammad Luqman,5
and Lutfullah1
1
Department of Chemistry, Faculty of Science, Aligarh Muslim University, Aligarh 202002, Uttar Pradesh, India
2
Chemistry Department, Faculty of Science, King Abdulaziz University, Jeddah 21589, Saudi Arabia
3
Centre of Excellence for Advanced Materials Research, King Abdulaziz University, Jeddah 21589, Saudi Arabia
4
Advanced Functional Materials Laboratory, Department of Applied Chemistry, Faculty of Engineering and Technology,
Aligarh Muslim University, Aligarh 202002, India
5
Chemical Engineering Department, College of Engineering, Taibah University, Yanbu Albahr 41911, Saudi Arabia
Correspondence should be addressed to Inamuddin; inamuddin@rediffmail.com
Received 24 April 2018; Revised 28 November 2018; Accepted 1 January 2019; Published 24 February 2019
Academic Editor: Charles C. Sorrell
Copyright © 2019 Mohd Imran Ahamed et al. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is
properly cited.
Poly(3,4-ethylene dioxythiophene): polystyrene sulfonate (PEDOT: PSS) zirconium(IV) phosphate (ZrP) based ionomeric
membrane was prepared by a solution-casting method. Subsequently, aniline polymerization was carried out on the surface of the
membrane by oxidative chemical polymerization. It was characterized by thermogravimetric analysis/differential thermal
analysis/differential thermogravimetry (TGA/DTA/DTG), scanning electron microscopy (SEM), X-ray diffraction (XRD), energy
dispersive X-ray (EDX) analysis, and Fourier-transform infrared (FTIR) spectroscopy. The membrane was also characterized by
ion-exchange properties. The tip displacement investigation of the ionomeric membrane was also carried out. The outcomes
demonstrated that the manufactured ionomeric membrane could produce generative strengths (tip powers), and consequently
create good displacement. In this manner, the proposed ionomeric membrane was found proper for bending movement actuator
that will give a successful and promising stage for smaller-scale mechanical applications.
1. Introduction separation of metal cation, which can produce plain visible
movement as a result of the movement of cations and water
Traditionally, ionic polymer metal composites (IPMCs) molecules under a suitable connected voltage [6–10]. High
emerged as potential materials for electric stimulus re- cost, tedious electroless plating of metal, spillage from the
sponsive actuators when subjected to a lower voltage damaged permeable surface, electrolysis, high dissipation
(e.g., 1–5 V) due to various properties including their rate of water molecules under connected voltage, and hys-
prominent mechanical flexibility, lighter weight, low-power teresis are some serious drawbacks which affect the per-
requirement, easy processing, precise sensing ability, and formance of IPMCs [11–13]. Much attention is focused
large dynamic deformation. These properties are very useful around the globe in recent years to develop some distinct
in different robotic applications including microgrippers, class of speciality materials having the capability of trans-
fish, artificial muscles [1–5]. Commonly, an IPMC com- forming electrical energy into mechanical work to utilize in
prises an ionomeric membrane (e.g., Nafion) covered the multidimensional area of microrobotics [14]. Monomers
with metal (e.g., Pt or Au) as an electrode at both sides of of thiophene, pyrrole, aniline, and their derivatives [15–17]
the membrane and water as the inward medium for the with excellent response rates during potential cycling
2 Advances in Materials Science and Engineering
experiments are mostly utilized for the preparation of 2. Experimental
electrically conducting polymers (ECPs) [18]. Polyaniline
(PANI) is of particular interest electrically conducting 2.1. Materials. The primary reagents utilized were zirconium
polymer because it can be prepared by both chemical and oxychloride octahydrate (ZrOCl2·8H2O), hydrochloric
electrochemical routes and is thermally, chemically, and acid (HCl), potassium persulphate (K2S2O8), and dioctyl
environmentally stable in air and aqueous media [19, 20]. phthalate (C6H4(CO2C8H17)2) (Central Drug House, India),
PANI has negligible film-forming capability; thus, despite orthophosphoric acid (H3PO4), tetrahydrofuran (C4H8O),
having excellent electrical conducting property, it is com- liquor ammonia solution (NH4OH), aniline (C6H5NH2)
bined with other similar materials where these materials are (Fischer Scientific, India), nitric acid (HNO3) (E-Merck,
required in the form of films/membranes. These days, India), poly(3,4-ethylene dioxythiophene):polystyrene sul-
poly(3,4-ethylene dioxythiophene):polystyrene sulfonate fonate (PEDOT:PSS) 1.3 wt.% dispersion in H2O, (Sigma-
(PEDOT:PSS) is developed as one of the most encouraging, Aldrich, India), and polyvinyl chloride (Otto Chemicals,
viable, and effective electrically conducting polymers with India). Every one of the chemicals and reagents was of
various applications in different rising fields such as elec- analytical reagent grade and utilized as such.
trically conducting and antistatic coatings, sensors, capac-
itors as well as thermoelectric materials due to its cost-
effectiveness, low surface roughness, mechanical flexibility, 2.2. Instrumentation. An X-ray diffractometer (Miniflex-II,
high electrical conductivity, and high work function [21–24]. Japan), FTIR spectrometer (Interspec-20, Spectrolab UK),
Electrically conducting polymers have different preferences, TGA/DTA recorder (EXSTAR, TG/DTA-6300), scanning
for example, simple preparation, cost adequacy, and great electron microscope (SEM) (JEOL, JSM-6510 LV, Japan),
electrical conductivity, thus possessing various emerging laser displacement sensor (OADM 20S4460/S14F, Baumer
applications in nanoactuators and artificial muscles [25]. For Electronic, Germany), pH meter (Elico LI-120, India), an
actuation purpose, composite ionomeric membranes de- electric air oven (Jindal Scientific Instrumentation, India),
veloped by using ion-exchange material in a polymer binder digital electronic balance (Wensar, MAB-220, India), and
(polyvinyl chloride; PVC) could be effectively utilized as magnetic stirrer (Labman LMMS-1L4P, India) were used.
these membranes have several remarkable properties as a
result of combination of properties of inorganic exchanger
2.3. Synthesis of the Composite Cation Exchanger. The
and organic polymer such as film-forming capability,
composite ionomer of PEDOT: PSS-Zr-P was developed as
enhanced electrical and ion exchange/conductivity ca-
revealed by Mohammad et al. [31]. The IEC was determined
pacity, mechanical stability and flexibility, and water- after converting the dried granules into H+ ion form as
retention capacity [26–28]. In the quest for providing
discussed elsewhere [29].
an effective alternative (in terms of cost and properties) to
traditional actuation materials (e.g., Nafion), we propose,
in this study, PANI/PVC-PEDOT: PSS-ZrP-based com- 2.4. Membrane Preparation and Coating of Polyaniline.
posite cation-exchange membranes to be utilized for Coetzee and Benson [32] technique was taken after for the
microrobotic applications. There is always a need to have readiness of the composite cation-exchange membrane of
various options in selecting a material based on the PANI/PVC-PEDOT: PSS-ZrP. The composite ionomeric
specific need. A few alternatives to Nafion-based actuation material was ground well to a fine powder. Polyvinyl chloride
materials have been reported where tip displacement is (PVC) powder was dissolved in 10 ml of tetrahydrofuran
significantly higher than that based on the Nafion [25]. (THF) and 1 g of powdered composite ionomer, and 50 μL of
These materials have been produced using time- dioctyl phthalate was included and blended completely with
consuming electroless-plating methods using expensive the assistance of magnetic stirrer [33]. The resultant material
noble metals for providing electrical conductivity to the was carefully poured into a glass-casting ring (diameter
membrane. Herein, we propose a cost-effective alternative 10 mm) laying on a glass plate. The ring was left for moderate
method where there is no need for plating the membrane vanishing of THF. The film, after total evaporation of THF,
with expensive noble metals, but by PANI itself, thus was put into a beaker containing 20 ml of 10% aniline and
reducing the cost in comparison to not only that based on 20 ml of 0.1 M potassium persulphate (K2S2O8) and stirred
Nafion [25] but also Inamuddin et al. [29] and SPVA-Py utilizing a stirrer beneath 10°C for 60 minutes. Subsequently,
[30]. Additional advantages of this material are that the the beaker containing the membrane was kept underneath
binding of PVC with composite ion exchange material 10°C in an icebox for 24 h. The membrane was taken out from
PEDOT: PSS-ZrP provides a mechanically stable com- the beaker, washed with demineralised water (DMW) to
posite cation-exchange membrane, whereas ion exchange evacuate traces of surface unbound polyaniline (PANI), and
polymer PEDOT: PSS works as a semiconductor under an dried in an electric oven kept up at 45 ± 0.5°C. The membrane
applied voltage. However, to enhance the electrical con- was put away in a desiccator to conduct further experiments.
ductivity, PANI was coated on the surface of the com-
posite ion-exchange membrane. These materials are
expected to be employed where the need for bending 2.5. Characterization. The ion-exchange capacity (IEC), the
displacement is medium to low, similar or a bit better than proton conductivity, water uptake (by mass), and water loss
that based on Nafion. (by mass) properties of the PANI/PVC-PEDOT: PSS-ZrP
Advances in Materials Science and Engineering 3
composite ionomeric membrane was determined as re- dynamic thermally broadened PO4 2− sites on the composite
ported by Inamuddin et al. [11]. ionomeric membrane. The high water take-up of composite-
cation exchange membrane even at elevated temperature
may likewise encourage the movement of hydrated cation
2.6. Electromechanical Study. For portraying the electro- even if there should be an occurrence of high temperature
mechanical parameters of the PANI/PVC-PEDOT: PSS-ZrP prompting to the good actuation. The water loss of the
composite membrane, a testing setup is outlined as shown in
premeasured PANI/PVC-PEDOT: PSS-ZrP composite
Figure 1 where the PANI/PVC-PEDOT: PSS-ZrP composite
cation-exchange membrane was determined by applying an
membrane actuator in a cantilever mode is clasped in a
electric voltage of 3 V at time interims i.e., 3, 6, 9, and 12 min.
holder which is mounted on the steel-based table. An input
Water loss of the composite cation-exchange membrane was
command in terms of voltage (0–3.5 V DC) is sent through observed to be dependent to the time of applying voltage, as
computer-controlled digital analogue card (DAC), minia- it increments with increment in time of connected voltage,
turized scale controller, and computerized power supply. and water loss up to 2.41% was seen subsequent to applying
The current rating 50–200 mA was required for enacting the an electric voltage of 3 V for a period of 12 min (Figure 4).
membrane which was given by utilizing a specially designed
The water loss from the composite membrane may come
amplifier circuit. The copper tapes were put on both surfaces about because of the water spillage from the damaged surface.
of the membrane for conductivity and current supply This is the reason behind the shorter existence of IPMCs. The
needed during actuation. A laser displacement sensor was
electrical property of PANI/PVC-PEDOT: PSS-ZrP com-
utilized as a feedback framework for measuring the tip
posite cation-exchange membrane was investigated by utiliz-
dislodging position of the actuator. A converter (Make:
ing potentiostatic cyclic voltammetry. The speedy movement
Adam) was likewise utilized for changing over the in-
of the hydrated cations in the composite membrane, in view of
formation from RS-485 to RS-232 convention which was the connected electrical voltage, with the decay profile of water
associated with a computer (PC) port. The information was because of electrolysis mirrors the state of I-V hysteresis
gathered by Docklight V1.8 programming through RS-232
curves. It was observed that there was no critical voltage drop
port in a PC. A PC code utilizing C programming dialect was and the slant of the I-V curve for composite cation-exchange
composed where the sampling rate (20 tests for each second) membrane was altogether high [13], recommending the quick
was settled in the software for controlling the layer. movement of hydrated cations and moderate dissipation of
water (Figure 5). The current density of PANI-PEDOT-Zr-P
2.7. Force Measurement. A high-accuracy load cell was composite cation-exchange membrane was assessed by ap-
utilized for measuring the load of the PANI/PVC-PEDOT: plying a voltage of 3.5 and found subject to connected voltage
PSS-ZrP membrane actuator. The voltage was measured as it increments with increment in connected voltage as shown
utilizing multimeter while the composite membrane was in in Figure 6. The elemental composition acquired by the energy
operation. dispersive X-ray (EDX) examination is introduced in Table 2.
The presence of chemical constituents (C, O, Zr, P, N, and Cl)
3. Results and Discussion in the EDX spectrum in respective ratios confirms the for-
mation of PANI/PVC-PEDOT: PSS-ZrP composite ion-
The PANI/PVC-PEDOT: PSS-ZrP composite cation- exchange membrane (Figure 7). The X-ray diffraction pat-
exchange membrane possessed a significant ion-exchange tern of PANI/PVC-PEDOT: PSS-ZrP composite cation-
capacity of 1.23 meq·g−1 of the dry membrane and fur- exchange membrane showed little pinnacles of 2θ values,
thermore, has a proton conductivity of 8.83 × 10−6 S cm−1 recommending the indistinct nature of the composite cation-
(Table 1). The higher water take-up of the PANI/PVC- exchange membrane (Figure 8). The FTIR spectrum of PANI/
PEDOT: PSS-ZrP ionomeric membrane might be because PVC-PEDOT: PSS-ZrP composite cation-exchange mem-
of good IEC and proton conductivity of the membrane brane (Figure 9) affirms presence of the–OH stretching of
which may come about the quick movement of hydrated external water molecules (3434 cm−1) [34], metal oxygen bond
cations towards cathode by producing an ideal pressure (Zr-O) (609 and 518 cm−1) [35], ionic phosphate (1074 cm−1)
towards the anode, responsible for actuation (Figure 2). The [36], C�O stretching (1730 cm−1) [37], lattice (internal) water
higher water take-up promotes for the execution of com- (1636 cm−1) [38], whereas a sharp peak at 2927 cm−1 deals with
posite cation-exchange membrane. The water take-up limit the C-H stretching mode for polyvinyl chloride [39].
of PANI/PVC-PEDOT: PSS-ZrP composite cation-exchange The thermogram of the PANI/PVC-PEDOT: PSS-ZrP
membrane at 25 ± 3°C was subject to time as it increments composite cation-exchange membrane (Figure 10) indicated
with the expansion of drenching time up to 16h, and after good thermal stability as it helds 51% of mass at 600°C.
that, saturation was built up (Figure 2). The percent water When the hybrid cation-exchange membrane was heated up
take-up at 25 ± 3°C with inundation time 16 h was found to 101°C, only 5.54% weight reduction was watched which is
10.7%. The percent water take-up of the composite cation- ascribed because of the evacuation of outer water molecules
exchange membrane PEDOT: PSS-ZrP was recorded 8.16% joined to the surface of composite cation-exchange mem-
at 45°C. The outcomes explain that only 2.54% of water- brane. Further heating up to 200°C came about 9.96% weight
holding limit of the membrane was lost at 45°C (Figure 3). reduction which might be because of the evacuation of a
The superb water-retention capacity even at raised strongly coordinated water molecule from the composite
temperature might be because of the presence of more cation-exchange membrane [40]. A mass loss of 17.7% was
4 Advances in Materials Science and Engineering
I/P command
Customised control system
Controller
+
Actuator
Computer DAC card
Displacement
– sensor
Digital power supply
Feedback system
Figure 1: Sketch for testing the bending of PANI/PVC-PEDOT: PSS-ZrP actuator.
Table 1: Composition, IEC, and PC of the PANI/PVC-PEDOT: PSS-ZrP composite ionomer membrane.
Membrane composition
S. No. PANI-PEDOT PVC Plasticizer THF Thickness IEC Proton
ZrP (mg) (mg) (μL) (ml) (mm) (meq g−1 of dry membrane) conductivity (S cm−1)
M-1 1000 200 50 10 0.161 1.23 8.83 × 10−6
+ –
– – – + – –
– +
+
+ + +
+ + –
– – – – +
– – +
+
+ + +
+ – + –
– – –
+
+ + +
+ – –
+
+
– + –
– – –
– + –
+ + +
– +
Before actuation After immersion in water
After actuation
– Fixed anion + Hydrated cation
+ Mobile Movement of hydrated cation
Water
Figure 2: Bending mechanism of PANI/PVC-PEDOT: PSS-ZrP membrane.
Advances in Materials Science and Engineering 5
12 Current-voltage (I-V) hysteresis curve for
×10–5 PANI-PEDOT-ZrP membrane
4
10
3
8
Water uptake (%)
2
Current density (A/cm2)
6
1
4 0
2 –1
0 –2
0 4 8 12 16 20 24
Time (h) –3
Water uptake at 25 ± 3°C
–4
Water uptake at 45°C –4 –3 –2 –1 0 1 2 3 4
Potential (volt)
Figure 3: Water uptake of PANI/PVC-PEDOT: PSS-ZrP
membrane. Figure 5: Cyclic voltammetry study of PANI/PVC-PEDOT: PSS-
ZrP membrane.
2.5
×10–5
3
2
2.5
Current density (A/cm2)
1.5
Water loss (%)
2
1 1.5
0.5 1
0 0.5
1 1.5 2 2.5 3 3.5 4
0 3 6 9 12
Potential (volt)
Time (min)
Figure 6: LSV of PANI/PVC-PEDOT: PSS-ZrP membrane.
Figure 4: Water loss from PANI/PVC-PEDOT: PSS-ZrP
membrane.
Table 2: Elemental composition of the PANI/PVC-PEDOT: PSS-
ZrP composite ionomer membrane.
related while heating the membrane up to 250°C because of Elements Weight (%) Atomic (%)
physical transitions such as crystallization occurring during C 56.16 71.83
heating [41]. As temperature increases up to 329°C, 7.6% Cl 24.29 10.53
weight loss was observed which corresponds to the release O 10.45 10.04
and deterioration of organic polymer PEDOT: PSS [42]. The N 6.24 6.84
conversion of the phosphate group into pyrophosphate Zr 1.99 0.33
group is accompanied with 1.98% weight loss up to 399°C P 0.86 0.43
[43]. Another 5.77% weight reduction observed while
heating is proceeded up to 600°C which was related to the 500°C which affirmed the transitions associated in TGA
deterioration of organic polymer polyvinyl chloride [44]. analysis. The almost horizontal curve beyond 600°C repre-
The DTA curve demonstrated two sharp peaks at 330 and sented the formation of oxides [40].
6 Advances in Materials Science and Engineering
CI CI Spectrum 2
C
N Zr
P
O
Zr
0 2 4 6 8 10 12 14 16 18 20
keV
Full scale: 303 cts; cursor: 0.000
Figure 7: EDX spectrum of PANI/PVC-PEDOT: PSS-ZrP membrane.
2400
2200
2000
1800
Counts (cps)
1600
1400
1200
1000
800
0 10 20 30 40 50 60 70 80 90
2θ (°)
Figure 8: Powder X-ray diffraction pattern of PANI/PVC-PEDOT: PSS-ZrP membrane.
66.9
66
65
64 609.64
63
62
61 518.62
Transmittance
1730.61
60 2927.61 1636.61
59
58 3434.59
57
56
55
54
53
52 1074.52
51.0
4000.0 3600 3200 2800 2400 2000 1800 1600 1400 1200 1000 800 600 400.0
Wavenumber (cm–1)
Figure 9: FTIR spectrum of PANI/PVC-PEDOT: PSS-ZrP membrane.
Advances in Materials Science and Engineering 7
231°C
80.0 150.0
0.52 mg/min
0.50
60.0 310°C 140.0
0.20 mg/min 535°C
0.05 mg/min
40.0 130.0 0.00
330°C
20.5 µV
20.0 120.0
–0.50
0.0 –579 mJ/mg 110.0
DTG (mg/min)
20°C
–1.00
DTA µV
–20.0
TG (%)
99.97% 100.0
–40.0
101°C 200°C 90.0 –1.50
94.43% 84.77%
–60.0
80.0
–80.0 –2.00
70.0
329°C 1446°C
–100.0
250°C 59.4% 49.9%
500°C 60.0 –2.50
67.0%
54.99% 599°C 801°C 1001°C 1200°C
–120.0
399°C 51.65% 50.52% 49.92% 49.98%
57.42% 50.0
–140.0 –3.00
200 400 600 800 1000 1200 1400
Temperature (°C)
DTA
DTG
TG
Figure 10: Simultaneous TGA/DTA/DTG curves of PANI/PVC-PEDOT: PSS-ZrP membrane.
(a) (b)
Figure 11: Continued.
8 Advances in Materials Science and Engineering
(c) (d)
Figure 11: SEM microphotographs of PANI/PVC-PEDOT: PSS-ZrP. (a) Image at a magnification of 500× before actuation. (b) Image at a
magnification of 500× after actuation. (c) Cross-sectional image at a magnification of 150× before actuation. (d) Cross-sectional image at a
magnification of 150× after actuation.
Scanning electron microscopic pictures of the PANI/ greatest deflection was achieved up to 14.5 mm at 3.5 V with
PVC-PEDOT: PSS-ZrP composite membrane before and the steady-state behaviour. It was likewise watched that
after applying an electrical voltage of 3.5V are shown in when the voltage was in off mode, the PANI/PVC-PEDOT:
Figures 11(a) and 11(b). The fresh composite membrane PSS-ZrP membrane did not return in a similar way, and it
has smooth surface morphology with no sort of spaces, highlights some error in deflection (0.5 mm). For avoiding
while in the wake of applying voltage, surface morphology this deflection error, a proportional-derivative (PD) con-
of the composite membrane became slightly rough, and a trol system was applied in the controller where the PD
very thin rupture was noticeable on the surface of the controller gains were tuned in the controller by setting a
membrane which is responsible for the lesser degree of frequency. For force characteristic of PANI-PEDOT-ZrP
water loss. Along these lines, it was watched that in the actuator, the membrane was clamped with overload cell.
wake of applying the voltage, the hybrid membrane had in The experimental data were collected as given in Table 4. By
general very little influence. SEM microphotographs shown using the probability distribution method, the standard
in Figures 11(c) and 11(d) portray the cross-sectional deviation was calculated as 0.1353 when the mean value was
images of the fresh PANI/PVC-PEDOT: PSS-ZrP com- 0.2019. By using normal distribution function, the re-
posite cation-exchange membrane which demonstrated peatability of PANI/PVC-PEDOT: PSS-ZrP actuator was
that the PEDOT: PSS-ZrP composite ion-exchanger par- found to be 99.03%. A microgripper was developed as shown
ticles are profoundly embedded in the framework of in Figure 14. By holding the object, these PANI-PEDOT-ZrP
polyvinyl chloride. The denser collection of cation- based membranes demonstrate the capability of smaller
exchanger particles in the composite cation-exchange scale automated applications.
membrane resulted in the compact granular filling which
was responsible for the lesser degree of water loss from the 4. Conclusion
hybrid cation-exchange membrane. This is because of the
fact that the dense aggregation obstructs in the path of flow In this paper, a PANI/PVC-PEDOT: PSS-ZrP composite
of water molecules. cation-exchange membrane was prepared by solution
Whenever voltage (0–3.5 V DC) was connected to the casting technique with a specific end goal to use in smaller
membrane through a customized control framework, the tip scale microrobotic applications. This composite cation-
displacement was controlled through PC interface as an exchange membrane showed good ion exchange capacity
input command and the composite membrane twisted at a and proton conductivity with faster actuation capability.
connected voltage (0–3.5 V DC). The size of the membrane From the experimental results, it was assumed that this
(30 mm length × 10 mm width × 0.16 mm thickness) is cut material has great water take-up limit and a lesser measure of
for experimentation purpose. In the wake of applying the water misfortune under connected voltage. Additionally, the
voltages, the twisting deflection pictures were taken at tip relocation parameters showed quick actuation. Thus, the
various voltages as demonstrated in Figure 12. A few times PANI/PVC-PEDOT: PSS-ZrP composite exchange mem-
tests were produced and information was likewise gathered brane could be effectively utilized for actuation purpose,
as given in Table 3. The average values at corresponding which will open a new path of prospects in a very dynamic
voltages were plotted in Figure 13. It is conceived that the and rapidly emerging field of microrobotics.
Advances in Materials Science and Engineering 9
(a) (b) (c) (d)
(e) (f ) (g) (h)
Figure 12: Experimental deflection response of PANI/PVC-PEDOT: PSS-ZrP at different voltages (0–3.5 V): (a) 0 V, (b) 0.5 V, (c) 1.0 V, (d)
1.5 V, (e) 2.0 V, (f ) 2.5 V, (g) 3.0 V, and (h) 3.5 V.
Table 3: Experimental deflection data of the PANI/PVC-PEDOT: PSS-ZrP membrane with applied voltages.
Experimental values of deflection (mm)
Voltage (V) Average data of deflection (mm)
D1 D2 D3 D4 D5
0 0 0 0 0 0 0
0.5 4.00 4.25 3.65 4.15 3.95 4.00
1.0 5.15 5.25 4.70 4.90 5.00 5.00
1.5 7.35 7.15 6.95 6.80 6.75 7.00
2.0 11.25 10.85 11.05 11.00 10.85 11.00
2.5 12.00 12.30 12.05 11.85 11.80 12.00
3.0 12.50 12.40 12.40 12.70 12.50 12.50
3.5 14.45 14.65 14.35 14.40 14.65 14.50
10 Advances in Materials Science and Engineering
15 Acknowledgments
X: 3.5
Y: 14.5
10 The authors are thankful to the Department of Applied
Chemistry, Aligarh Muslim University, India, for providing
5 research facilities. The authors are also thankful to CSIR-
Deflection (mm)
CMERI, Durgapur, India, for carrying out the electrome-
0 chanical characterization and demonstration of the IPMC-
based microrobotic system at DMS/Microrobotics Labora-
–5
tory, CSIR-CMERI, Durgapur, India.
–10
X: –3.5
Y: –14.5
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