Ionic electroactive polymers (iEAPs) are electroactive polymers that have been used as artificial muscles and have broad application potential. Although iEAPs show large bending deformation under low electric stimulus, the low output force significantly restricts their application. Based on an ionic polymer–metal composite (IPMC) actuator, we proposed a bending stacking structure principle which adapts the bending deformation cooperation conditions. According to the principle, the width stacking structure and thickness stacking structure were designed that can improve the output force, maintain a high stacking efficiency, and eliminate degradation to the deformation ability. The advantages of the proposed stacking structures were identified using theoretical analysis and experimental verification based on IPMC actuators. Compared with an ultra-wide actuator, the wide stacking structure can resist undesirable width deformation. Compared with a traditional stacking structure, the proposed thickness stacking structures solved the bending deformation coordination problem to get a high stacking efficiency and significantly enhance the output force.

离子电活性聚合物（iEAPs）是已被用作人造肌肉并具有广泛应用潜力的电活性聚合物。尽管 iEAP 在低电刺激下表现出较大的弯曲变形，但低输出力显着限制了其应用。基于离子聚合物-金属复合材料（IPMC）致动器，我们提出了一种适应弯曲变形协同条件的弯曲堆叠结构原理。根据该原理，设计了宽度堆叠结构和厚度堆叠结构，以提高输出力，保持较高的堆叠效率，并消除变形能力的退化。使用基于 IPMC 执行器的理论分析和实验验证，确定了所提出的堆叠结构的优点。与超宽致动器相比，宽堆叠结构可以抵抗不良的宽度变形。与传统的堆叠结构相比，所提出的厚度堆叠结构解决了弯曲变形协调问题，以获得高堆叠效率并显着提高输出力。