Ionic Polymer Artificial Muscle (IPAM), as a new electric actuator, has the advantages of good flexibility, excellent biocompatibility, large deformation and low price, which involves wide application prospects in engineering fields. In this work, effects of freeze-drying temperature on response speed, output force and its tremor characteristics of the IPAM were researched in depth. Experimental results showed that the optimal freeze-drying temperature was from -50℃ to -70℃, then IPAM displayed the best output force and response speed, with the maximum of 6.76 mN and 0.166 mN/s respectively, which were 1.7 times and 4.9 times higher than the minimum values. Thereinto, at -60℃ freeze-drying temperature, output-force tremor frequency and its amplitude of the IPAM were separately once and 0.4 mN, which were 0.06 times and 0.13 times less than that of the maximum. Furthermore, improvement mechanism of the IPAM was that a high freeze-drying temperature would weaken the crystallinity of water molecules with big and unstable crystal structure during the sublimation, which was easily destroyed by stress inside the IPAM accompanying small diameter of ion channels and thickness. But moderate low freeze-drying temperatures could refine crystal grains of the water molecules, and then their diffusion enhanced mechanical property of the IPAM with fine connectivity and smoothly of the ion channels.

离子高分子人工肌肉（IPAM）作为一种新型的电动执行器，具有柔韧性好，生物相容性好，变形大，价格低廉的优点，在工程领域具有广阔的应用前景。在这项工作中，深入研究了冷冻干燥温度对IPAM响应速度，输出力及其震颤特性的影响。实验结果表明，最佳冷冻干燥温度为-50℃至-70℃，IPAM显示出最佳的输出力和响应速度，分别为6.76 mN和0.166 mN / s，分别为1.7倍和4.9倍。最小值的两倍。其中，在-60℃冷冻干燥温度下，输出力震颤频率及其IPAM幅值分别为1和0.4 mN，分别为0.06倍和0。小于最大值的13倍。此外，IPAM的改进机理是，较高的冷冻干燥温度会在升华过程中削弱具有大而不稳定的晶体结构的水分子的结晶度，很容易被IPAM内部的应力所破坏，并伴随着较小的离子通道直径和厚度。但是适度的低冷冻干燥温度可以细化水分子的晶粒，然后它们的扩散增强了IPAM的机械性能，并具有良好的连通性和离子通道的顺畅性。IPAM内部的应力伴随着较小的离子通道直径和厚度而很容易被破坏。但是适度的低冷冻干燥温度可以细化水分子的晶粒，然后它们的扩散增强了IPAM的机械性能，并具有良好的连通性和离子通道的顺畅性。IPAM内部的应力伴随着较小的离子通道直径和厚度而很容易被破坏。但是适度的低冷冻干燥温度可以细化水分子的晶粒，然后它们的扩散增强了IPAM的机械性能，并具有良好的连通性和离子通道的顺畅性。