  Ionic Polymer Metal Composite is a well-known soft electroactive polymer
composite that it's promising features tell us that it has adequate potential
to be a utilizable and applicative soft actuator in the practical applications,
especially in the small size applications. But this smart material is still
immature, and one of the reasons that lead to its immaturity is lack of a valid
and proper physics-based model for large deformation situations. In practical
online and large deformation applications, the inverse non-autoregressive
identification based models are the proper choices but if we want to know how
IPMC works and what is the physics of its behavior in the large deformation
situation the inverse identification based models are deeply blind, and we have
to use physical and multi-physical approaches. It is our main aim in this
paper, and for the first time, we want to present a fully analytical and
physics-based ion transport 3D and non-Linear model for large deformable IPMC.
In this direction, based on three dimensional Nernst-Plank PDE we will find a
well-defined and valid relationship between input voltage and output tip
displacement of IPMC for large deformation situation and with four provable
pieces of evidence it will be proven that proposed model has chosen a proper
way and it is more complete than previous benchmark and well-known
physics-based models for IPMC, and also it is valid and accurate enough for
large deformation modeling of IPMC.
